Device

Abstract

Provided is a device having a novel mechanism capable of converting rotational motion into movement in another direction, for example.　For example, a device (1, 100, 200, 300, 700) is provided with: a first member (10, 310, 410, 510, 710) that rotates about a rotation axis (X); and a second member (21, 321, 721). The first member (10, 310, 410, 510, 710) has a first surface (11, 311, 411, 511, 711) facing one side in the rotation axis (X) direction. The first surface (11, 311, 411, 511, 711) includes a first region (10N, 410N, 510N, 710N) in which the radial distance from the rotation axis (X) decreases toward one side in the circumferential direction. The second member (21, 321, 721) is magnetically attracted to the first region (10N, 410N, 510N, 710N), and when the first member (10, 310, 410, 510, 710) rotates, the second member (21, 321, 721) moves.

Description

Device

[0001] The present invention relates to a device.

[0002] Conventionally, a device that moves a certain member relative to another member using magnetic interaction is known (for example, Patent Document 1). Such devices generally tend to be large, and the degree of freedom in the mode of movement of the members is low.

[0003] Japanese Patent Application Laid-Open No. 2013-005613

[0004] For example, in the field of micro grippers for robots and the like, a new mechanism that can be easily miniaturized or lightened is required. An example of the problem of the present invention is to provide a device having a new mechanism capable of converting rotational motion into movement in other directions.

[0005] The device of the present invention includes a first member that rotates about a rotation axis and a second member. The first member has a first surface facing one side in the rotation axis direction, and the first surface has a first region in which the distance in the radial direction from the rotation axis decreases as it goes toward one side in the circumferential direction. The second member is magnetically attracted to the first region of the first member, and when the first member rotates, the second member moves.

[0006] This is a schematic perspective view of the apparatus according to the first embodiment. This is a schematic perspective view of the apparatus according to the first embodiment. This is a diagram schematically showing the arrangement of the first member, the second member, and the cover in the apparatus according to the first embodiment. This is a schematic diagram showing a modified example of the holes in the cover. This is a schematic diagram showing a modified example of the holes in the cover. This is a schematic perspective view of the apparatus according to the second embodiment. This is a diagram schematically showing the arrangement of the first member, the second member, the cover, and the guide in the apparatus according to the second embodiment. This is a schematic diagram showing a modified example of the first member, the second member, the cover, and the guide. This is a schematic diagram showing a modified example of the first member, the second member, the cover, and the guide. This is a schematic diagram showing a modified example of the first member, the second member, the cover, and the guide. This is a schematic diagram showing a modified example of the first member, the second member, the cover, and the guide. This is a schematic perspective view of the apparatus according to the third embodiment. This is a perspective view of the apparatus according to the fourth embodiment. This is a perspective cross-sectional view of the apparatus according to the fourth embodiment. This is a schematic diagram showing a modified example of the first member. This is a schematic diagram showing a modified example of the first member. This is a schematic diagram showing a modified example of the shape of the second member. This is a schematic diagram showing a modified example of the shape of the second member. This is a schematic diagram showing a modified example of the shape of the second member. This is a schematic diagram showing a modified example of the shape of the second member. This is a schematic diagram showing a modified example of the shape of the second member. This is a schematic diagram showing a modified example of the shape of the second member. This is a perspective view showing the apparatus according to the fifth embodiment. This is a perspective view showing the fixed part of the apparatus according to the fifth embodiment. This is a perspective view showing the rotating part of the apparatus according to the fifth embodiment. This is a perspective view showing an enlarged cross-section of the apparatus according to the fifth embodiment.

[0007] In describing each embodiment of the present invention, for convenience of explanation, the direction along the rotation axis X of the first member is simply referred to as the rotation axis direction or the axis direction. The rotation axis X may be virtual. That is, the device of the present invention does not need to actually have a member that acts as the rotation axis of the first member. In the rotation axis direction, the direction of arrow a is referred to as one side, and the direction of arrow b, which is the opposite direction, is referred to as the other side. In a plane perpendicular to the rotation axis X, the direction approaching or moving away from the rotation axis X is referred to as the radial direction. In the radial direction, the direction of arrow c, which moves away from the rotation axis X, is referred to as the outside or one side, and the direction of arrow d, which moves towards the rotation axis X, is referred to as the inside or the other side. In a certain member or part, the outer surface in the radial direction (direction of arrow c) may be referred to as the outer circumferential surface, and the inner surface in the radial direction (direction of arrow d) may be referred to as the inner circumferential surface. In a certain member or part, the outer part in the radial direction (direction of arrow c) may be referred to as the outer circumferential part, and the inner part in the radial direction (direction of arrow d) may be referred to as the inner circumferential part. The direction of rotation around the axis of rotation X is called the circumferential direction. In the circumferential direction, the direction of arrow e in each figure is called one side, and the direction of arrow f, which is the opposite side, is called the other side.

[0008] [First Embodiment] Hereinafter, an apparatus 1 according to a first embodiment, which is an example of the present invention, will be described with reference to the drawings. Figures 1 and 2 are schematic perspective views of the apparatus 1. Figure 3 is a schematic diagram showing the arrangement of the first member 10, the second member 21, and the cover 30 in the apparatus 1.

[0009] As shown in Figure 1, the device 1 comprises a first member 10 that rotates around a virtual rotation axis X, and a second member group 20 that includes a plurality of second members 21 capable of reciprocating motion. The number of second members 21 in the device 1 is not particularly limited and may be one, two, three as shown, four, five, six, or seven or more.

[0010] In this embodiment, the first member 10 is formed in the shape of a disc. The first member 10 has a first surface 11 facing one side in the rotation axis direction (direction of arrow a) and a second surface 12 facing the other side in the rotation axis direction (direction of arrow b). The first surface 11 of the first member 10 has a first region 10N in which the radial distance from the rotation axis X decreases as it moves toward one side in the circumferential direction (direction of arrow e). The first surface 11 of the first member 10 also has a second region 10S in which the radial distance from the rotation axis X decreases as it moves toward one side in the circumferential direction.

[0011] The first region 10N and the second region 10S are adjacent in the radial direction. That is, the first region 10N and the second region 10S are arranged alternately from the outside to the inside (or from the inside to the outside) in the radial direction. In this embodiment, both the first region 10N and the second region 10S are helical. In this embodiment, both the first region 10N and the second region 10S are Archimedean spirals. Both the first region 10N and the second region 10S may have a shape that rotates two or more times around the axis of rotation X when moving from the outside to the inside in the radial direction, four or more times, six or more times, or eight or more times.

[0012] In this embodiment, the first member 10 is a permanent magnet. The first member 10 may be a rare-earth magnet, such as a samarium-cobalt magnet. The first region 10N and the second region 10S are formed by magnetizing the first member 10 into corresponding shapes. The first region 10N and the second region 10S each have different magnetic poles. For example, the first region 10N is the north pole and the second region 10S is the south pole. However, the north and south poles may be opposite. That is, the first region 10N may be the south pole and the second region 10S may be the north pole. The surface of the first member 10 may be coated or painted. The surface of the first member 10 may also be protected by a sheet or film.

[0013] In the direction of rotation axis, the second member group 20 is arranged on one side of the first member 10 (in the direction of arrow a). The second member 21 included in the second member group 20 is magnetically attracted to the first region 10N and the second region 10S of the first member 10. The second member group 20 is arranged at predetermined intervals in the circumferential direction. In this embodiment, the second member group 20 is arranged at equal angular intervals in the circumferential direction.

[0014] In this embodiment, the second member 21 is in contact with the first surface 11 of the first member 10. The second member 21 comprises a weight 21W and a magnet 21M. The weight 21W comprises a gripping portion 21Wa and a base 21Wb. In the direction of rotation axis, the gripping portion 21Wa is formed on one side of the base 21Wb (direction of arrow a). The gripping portion 21Wa is formed integrally with the base 21Wb. However, the gripping portion 21Wa and the base 21Wb may be formed individually and then fixed to each other. The material of the weight 21W is not particularly limited. The weight 21W may be made of, for example, metal, non-metallic inorganic material, resin, wood, etc. The weight 21W may be made of, for example, iron, cobalt, or a magnetic material such as nickel, or it may be made of a non-magnetic material. The surface of the second member 21 may be coated or painted. The surface of the second member 21 may also be protected by a sheet or film, etc.

[0015] In the direction of rotation, the magnet 21M is positioned on the other side of the weight 21W (in the direction of arrow b). The magnet 21M may be a separate entity from the weight 21W, or it may be a part of the weight 21W that has been magnetized. The magnet 21M has a south pole 21Ms and a north pole 21Mn. The width (radial dimension) of the south pole 21Ms of the magnet 21M is the same as or approximately the same as the width (radial dimension) of the first region 10N of the first member 10. The width (radial dimension) of the north pole 21Mn of the magnet 21M is the same as or approximately the same as the width (radial dimension) of the second region 10S of the first member 10. The south pole 21Ms of the magnet 21M is magnetically attracted to the first region 10N of the first member 10. The north pole 21Mn of the magnet 21M is magnetically attracted to the second region 10S of the first member 10. As a result, the entire second member 21 is magnetically attracted to the first member 10. However, the second member 21 may be magnetically attracted to either the first region 10N or the second region 10S of the first member 10. In the second member group 20, some of the second members 21 may be magnetically attracted to the first region 10N, and other parts of the second members 21 may be magnetically attracted to the second region 10S.

[0016] The device 1 includes a cover 30. The cover 30 is a component that is directly or indirectly fixed to the object on which the device 1 is attached, and is schematically shown in the drawing. The overall shape of the cover 30 is not particularly limited. The cover 30 may be made of, for example, metal, non-metallic inorganic material, resin, wood, etc. The cover 30 may also be made of a non-magnetic material.

[0017] In the direction of rotation axis, the cover 30 covers one side of the first member 10. In the direction of rotation axis, the cover 30 is separated from the first member 10. The cover 30 has radially extending holes (slits) 31, the number of which corresponds to the number of second members 21 included in the second member group 20 (three in this embodiment). The width of the holes 31 is approximately the same as the width of the second member 21, or slightly wider than the width of the second member 21. The second member 21 protrudes through the holes 31 of the cover 30 to one side in the axial direction (direction of arrow a).

[0018] Figure 3 schematically shows an example of the arrangement of the first member 10, the second member 21, and the cover 30. Figure 3 is a view of the second member 21 from the outside to the inside in the radial direction (in the direction of arrow d in Figure 1). The second member 21 is in contact with the first surface 11 of the first member 10 and is slidable relative to the first surface 11. The first member 10 is rotatable relative to the cover 30, but the circumferential movement of the second member 21 is restricted by the hole 31 in the cover 30.

[0019] As shown in Figure 1, the device 1 comprises a support portion 40 and a rotary drive device 50. In the device 1, the support portion 40 is a worm wheel with helical teeth 42 formed on its outer circumference 41. The support portion 40 is rotatable relative to the cover 30. The rotary drive device 50 comprises a motor 51 and a worm 52. The motor 51 is, for example, a stepping motor. The motor 51 may be any other type of motor. The worm 52 meshes with the helical teeth 42 of the support portion 40. When the worm 52, which is fixed to the motor 51, rotates, the support portion 40, which is a worm wheel, rotates. In this way, the rotary drive device 50 applies force to the outer circumference 41 of the support portion 40, causing the support portion 40 to rotate. The support portion 40 supports the second surface 12 of the first member 10. Therefore, the first member 10 rotates together with the support portion 40.

[0020] The apparatus 1 may have a configuration in which the rotary drive device 50 directly rotates the first member 10. In that case, for example, the first member 10 may be a worm wheel.

[0021] When the first member 10 rotates around the rotation axis X, the second member 21, which is magnetically attracted to the first member 10, attempts to move circumferentially in accordance with the rotation of the first member 10. However, the movement of the second member 21 is restricted by the hole 31 in the cover 30, so the second member 21 cannot move circumferentially beyond the hole 31. Therefore, when the first member 10 rotates, the second member 21 slides relative to the first surface 11 of the first member 10 in the circumferential direction. Here, the first region 10N and the second region 10S of the first member 10 are formed such that the radial distance from the rotation axis X decreases as they move toward one side in the circumferential direction (direction of arrow e). Therefore, when the first member 10 rotates in the direction of arrow f, the first region 10N and the second region 10S appear to move radially inward (direction of arrow d) within the hole 31. As a result, the second member 21 moves along the hole 31 so as to approach the axis of rotation X in the radial direction (arrow m in Figure 1). Figure 2 shows the state in which the second member 21 has moved as close as possible to the axis of rotation X.

[0022] Conversely, when the first member 10 rotates in the direction of arrow e, the second member 21 moves along the hole 31 so as to move radially away from the axis of rotation X. In this way, the second member 21 moves such that its radial distance from the axis of rotation X changes depending on the direction in which the first member 10 rotates. The movement of the second member 21 can be controlled by changing the rotational speed of the first member 10 or by reversing its rotational direction.

[0023] The device 1 may, instead of cover 30, be provided with, for example, cover 30A shown in Figure 4A, cover 30B shown in Figure 4B, or cover 30C shown in Figure 4C. Cover 30A shown in Figure 4A has one radially extending hole 31A. In this case, for example, one or two second members 21 can move along the hole 31A. Cover 30B shown in Figure 4B has four radially extending holes 31B. In this case, for example, one to four second members 21 can move along the holes 31B. Cover 30C shown in Figure 4C has three radially extending, meandering holes 31C. In this case, for example, one to three second members 21 can move meanderingly along the holes 31C. The covers that the device 1 can employ are not limited to these, and any form of cover that allows the second members 21 to move can be used.

[0024] The apparatus 1 according to this embodiment can convert the rotational motion of the first member 10 into movement of the second member group 20 in other directions with a simple configuration. The apparatus 1 can be constructed with a small number of parts, and the size of each part can also be reduced. Furthermore, since the apparatus 1 has a configuration in which the rotation drive device 50 rotates by applying force to the outer circumference 41 of the support part 40, the dimensions in the rotation axis direction do not tend to increase. Therefore, the apparatus 1 is useful in applications where miniaturization or weight reduction is required. The apparatus 1 can perform actions such as grasping, releasing, pulling, and transporting an object using the gripping part 21Wa of the second member 21 of the second member group 20. The apparatus 1 can be used, for example, as a micro-gripper for robots. Other examples of applications of the apparatus of the present invention will be described later.

[0025] [Second Embodiment] Hereinafter, an apparatus 100 according to a second embodiment, which is an example of the present invention, will be described with reference to the drawings. Figure 5 is a schematic perspective view of the apparatus 100. Figure 6 is a schematic diagram showing the arrangement of the first member 10, the second member 21, the cover 130, and the guide 131 in the apparatus 100. The apparatus 100 has the same configuration as the apparatus 1 according to the first embodiment, except that it has a cover 130 and a guide 131 instead of a cover 30, and the second member 21 does not contact the first surface 11 of the first member 10.Hereinafter, members and parts having the same function and configuration as the apparatus 1 according to the first embodiment will be denoted by the same reference numerals, and their detailed description will be omitted.

[0026] The device 100 includes a cover 130. The cover 130 is a component that is directly or indirectly fixed to the object on which the device 1 is attached, and is schematically shown in the drawing. The overall shape of the cover 130 is not particularly limited. The cover 130 may be made of, for example, metal, non-metallic inorganic material, resin, wood, etc. The cover 130 may also be made of a non-magnetic material.

[0027] In the direction of rotation axis, the cover 130 covers one side of the first member 10. In the direction of rotation axis, the cover 130 is separated from the first member 10. The cover 130 is provided with a radially extending guide 131. The guide 131 protrudes from the cover 130 to one side in the direction of rotation axis (direction of arrow a). The guide 131 is composed of a pair of radially extending parallel plates and sandwiches the second member 21 from both sides in the circumferential direction. There are as many guides 131 as there are second members 21 included in the second member group 20 (three in this embodiment). The guide 131 may be formed integrally with the cover 130, or they may be formed individually and then fixed to each other. The guide 131 may be made of, for example, metal, non-metallic inorganic material, resin, wood, etc. The guide 131 may be made of a non-magnetic material.

[0028] Figure 6 schematically shows an example of the arrangement of the first member 10, the second member 21, the cover 130, and the guide 131. Figure 6 is a view of the second member 21 from the outside to the inside in the radial direction (in the direction of arrow d in Figure 5). In the axial direction, the cover 130 is interposed between the first member 10 and the second member 21. The second member 21 is in contact with the surface of the cover 130 and is slidable relative to the cover 130. The first member 10 is rotatable relative to the cover 130, but the circumferential movement of the second member 21 is restricted by the guide 131.

[0029] When the first member 10 rotates around the rotation axis X, the second member 21, which is magnetically attracted to the first member 10, attempts to move circumferentially in accordance with the rotation of the first member 10. However, since the movement of the second member 21 is restricted by the guide 131, the second member 21 cannot move circumferentially beyond the guide 131. Therefore, when the first member 10 rotates, the second member 21 slides relative to the first surface 11 of the first member 10 in the circumferential direction. Here, the first region 10N and the second region 10S of the first member 10 are formed such that the radial distance from the rotation axis X decreases as they move toward one side in the circumferential direction (direction of arrow e). Therefore, when the first member 10 rotates in the direction of arrow f, the first region 10N and the second region 10S appear to move radially inward (direction of arrow d) inside the guide 131. As a result, the second member 21 moves along the guide 131 so as to approach the axis of rotation X in the radial direction (arrow m in Figure 5).

[0030] Conversely, when the first member 10 rotates in the direction of arrow e, the second member 21 moves along the guide 131 so as to move radially away from the axis of rotation X. In this way, the second member 21 moves such that its radial distance from the axis of rotation X changes depending on the direction in which the first member 10 rotates. The movement of the second member 21 can be controlled by changing the rotation speed of the first member 10 or by reversing its rotation direction.

[0031] The apparatus 100 according to this embodiment, like apparatus 1, can convert the rotational motion of the first member 10 into movement of the second member group 20 in other directions with a simple configuration. Like apparatus 1, apparatus 100 is useful in applications where miniaturization or weight reduction is required. In apparatus 100, since a cover 130 is interposed between the first member 10 and the second member 21, wear, damage, or deformation of the first member 10 or the second member 21 can be prevented.

[0032] Figures 7A to 7E show modified versions of the second member, cover, and guide. These are all schematic diagrams viewed from the direction corresponding to Figure 6. Figure 7A shows the second member 21A, cover 130A, and guide 131. The second member 21A has a groove 21Ag formed on one side in the rotation axis direction (direction of arrow a). The cover 130A is provided with a protrusion 130Ap that projects on one side in the rotation axis direction (direction of arrow a). The protrusion 130Ap extends radially along the guide 131. The protrusion 130Ap of the cover 130A engages with the groove 21Ag of the second member 21A. In this case, the guide 131 can be omitted.

[0033] Figure 7B shows the second member 21B, the cover 130, and the guide 131B. The other end of the second member 21B in the direction of the rotation axis (direction of arrow b) is provided with a projection 21Bp that protrudes on both sides in the circumferential direction (directions of arrows e and f). The guide 131B has grooves 131Bg formed on both sides in the circumferential direction (directions of arrows e and f). The grooves 131Bg extend radially along the guide 131. The projection 21Bp of the second member 21B engages with the grooves 131Bg of the guide 131B.

[0034] Figure 7C shows the second member 21C, the cover 130C, and the guide 131. The other end of the second member 21C in the direction of the rotation axis (direction of arrow b) is provided with a pair of radially extending notches 21Cg on both sides in the circumferential direction (directions of arrows e and f). The cover 130C is provided with a pair of protrusions 130Cp projecting from one side in the direction of the rotation axis (direction of arrow a). The protrusions 130Cp extend radially along the guide 131. The pair of protrusions 130Cp of the cover 130C engage with the pair of notches 21Cg of the second member 21C. In this case, the guide 131 is optional.

[0035] Figure 7D shows the second member 21D, the cover 130D, and the guide 131. The cover 130D has a groove 130Dg recessed on the other side in the rotation axis direction (direction of arrow b). The groove 130Dg extends radially along the guide 131. The second member 21D is provided with a protrusion 21Dp projecting on the other side in the rotation axis direction (direction of arrow b). The protrusion 21Dp of the second member 21D engages with the groove 130Dg of the cover 130D. In this case, the guide 131 is optional.

[0036] Figure 7E shows the second member 21E, the cover 130, and the guides 131Ee and 131Ef. The other end of the second member 21E in the direction of the rotation axis (direction of arrow b) is provided with a protrusion 21Ep that projects to one side in the circumferential direction (direction of arrow f in the illustrated configuration). The guide 131Ef has a groove 131Eg formed on one side in the circumferential direction (direction of arrow f in the illustrated configuration). The groove 131Eg extends radially along the guide 131Ef. The protrusion 21Ep of the second member 21E engages with the groove 131Eg of the guide 131Ef.

[0037] The second member, cover, and guide that the device 100 can employ are not limited to these, and any combination of the second member, cover, and guide that allows the second member to be moved can be used.

[0038] [Third Embodiment] Hereinafter, an apparatus 200 according to a third embodiment, which is an example of the present invention, will be described with reference to the drawings. Figure 8 is a schematic perspective view of the apparatus 200. Figure 8 has the same configuration as the apparatus 1 according to the first embodiment, except that it is equipped with a support part 240 and a rotary drive device 250 instead of a support part 40 and a rotary drive device 50.Hereinafter, members and parts having the same function and configuration as the apparatus 1 according to the first embodiment will be denoted by the same reference numerals, and their detailed description will be omitted.

[0039] As shown in Figure 8, the device 200 comprises a support portion 240 and a rotary drive device 250. The support portion 240 is a base that supports the second surface 12 of the first member 10. The shape of the support portion 240 may be any. The support portion 240 is rotatable relative to the cover 30. In the direction of rotation axis, the rotary drive device 250 is located on one side (direction of arrow a) or the other side (direction of arrow b) of the support portion 240. In the illustrated configuration, the rotary drive device 250 is located on the other side (direction of arrow b) of the support portion 240. The rotary drive device 250 comprises a motor 251 and a shaft 252. The motor 251 is, for example, a stepping motor. The motor 251 may be any other type of motor. In the device 200, the axis of rotation of the shaft 252 coincides with the axis of rotation X. In the illustrated configuration, the shaft 252 is incorporated into the motor 251. However, one or more gears or other reduction mechanisms may be interposed between the motor 251 and the shaft 252. The rotation axis of the motor 251 does not have to coincide with the rotation axis of the shaft 252. The shaft 252 of the rotary drive device 250 is fixed to the support portion 240 and rotates together with the support portion 240. When the support portion 240 rotates, the first member 10 supported by the support portion 240 also rotates. The rotary drive device 250 may also directly rotate the first member 10.

[0040] The device 200 according to this embodiment, similar to the device 1, can convert the rotational movement of the first member 10 into the movement in another direction of the second member group 20 with a simple configuration. Since the rotational drive device 250 is arranged on one side (in the direction of arrow a) or the other side (in the direction of arrow b) of the support portion 240, the device 200 is unlikely to have a large dimension in the radial direction. The device 200 is useful in applications where miniaturization or weight reduction is required, similar to the device 1.

[0041] [Fourth Embodiment] Hereinafter, the device 300 according to the fourth embodiment, which is an example of the present invention, will be described with reference to the drawings. FIG. 9 is a perspective view of the device 300. FIG. 10 is a perspective cross-sectional view of the device 300.

[0042] The device 1 includes a first member 310 that rotates about a virtual rotation axis X, and a second member group 320 that includes a plurality of second members 321 that can reciprocate. The number of the second members 321 included in the device 300 is not particularly limited, and may be one, two, three, four, five, six as shown in the figure, or seven or more.

[0043] In the device 300, the first member 310 is housed in a cover 330 and a housing 360. As shown in FIG. 10, the first member 310 is formed in a disk shape. The first member 310 has a first surface 311 facing one side (in the direction of arrow a) in the rotation axis direction and a second surface 312 facing the other side (in the direction of arrow b) in the rotation axis direction. The first member 310 has the same configuration as the first member 10 of the device 1 according to the first embodiment, and has a first region 10N and a second region 10S (not shown) in which the distance in the radial direction from the rotation axis X decreases as it goes toward one side (in the direction of arrow e) in the circumferential direction.

[0044] In the direction of the rotation axis, the second member group 320 is arranged on one side (in the direction of arrow a) of the first member 310. The second member 321 included in the second member group 320 is magnetically attracted to the first region 10N and the second region 10S of the first member 310. The second member group 320 is arranged at a predetermined interval in the circumferential direction. In the present embodiment, the second member group 320 is arranged at equal angular intervals in the circumferential direction. In the present embodiment, the second member 321 is in contact with the first surface 311 of the first member 310.

[0045] In the axial direction, the cover 330 is arranged on one side (in the direction of arrow a) of the housing 360. The cover 330 is fixed to the housing 360 by, for example, a plurality of bolts B. The cover 330 may be formed of, for example, metal, non-metallic inorganic material, resin, wood, etc. The cover 330 may be a non-magnetic body.

[0046] In the direction of the rotation axis, the cover 330 covers one side (in the direction of arrow a) of the first member 310. In the direction of the rotation axis, the cover 330 is separated from the first member 310. In the cover 330, holes (slits) 331 extending in the radial direction are formed radially by the number (six in the present embodiment) of the second members 321 included in the second member group 320. The width of the hole 331 is substantially the same as the width of the second member 321 or slightly wider than the width of the second member 321.

[0047] The second member 321 is in contact with the first surface 311 of the first member 310 and is slidable with respect to the first surface 311. The first member 310 is rotatable with respect to the cover 330, but the circumferential movement of the second member 321 is restricted by the hole 331 of the cover 330.

[0048] As shown in Figure 10, the device 300 comprises a support section 340 and a rotary drive device 350. The support section 340 comprises a plate 341 and a cylinder 342 protruding from the plate 341 to the other side in the axial direction (direction of arrow b). The rotary drive device 350 comprises a handle 351 and a shaft 352. One end of the shaft 352 in the axial direction (direction of arrow a) is inserted into the cylinder 342 of the support section 340 and fixed by a set screw 343. However, the other end of the shaft 352 in the axial direction (direction of arrow a) may be fixed to the support section 340 by other means such as fitting or adhesive. The shaft 352 is rotatably supported relative to the housing 360 via a bearing 370. The bearing 370 is shown as a ball bearing comprising an outer ring 371, an inner ring 372, and rolling elements. However, the bearing 370 may be a sleeve bearing or various other types of bearings. When the handle 351 is rotated by hand, the support portion 340 fixed to the shaft 352 rotates. The plate 341 of the support portion 340 supports the second surface 312 of the first member 310. Therefore, the first member 310 rotates together with the support portion 340. Alternatively, the rotary drive device 350 may include a motor and a reduction mechanism.

[0049] Similar to other embodiments, the second member 321 moves such that its radial distance from the rotation axis X changes depending on the direction of rotation of the first member 310 (direction of arrow e or direction of arrow f). The movement of the second member 321 can be controlled by changing the rotation speed of the first member 310 or by reversing the direction of rotation.

[0050] The apparatus 300 according to this embodiment, like apparatus 1, can convert the rotational motion of the first member 310 into movement of the second member group 320 in other directions with a simple configuration. Like apparatus 1, apparatus 300 is useful in applications where miniaturization or weight reduction is required.

[0051] [Modifications] Although preferred embodiments of the present invention have been described above, the present invention is not limited to the configuration of the above embodiments.

[0052] The apparatus of the present invention may include a first member 410 as shown in Figure 11. The first member 410 has a hole 410h formed in its inner circumference, centered on the axis of rotation X. The first member 410 has a first surface 411 having a first region 410N and a second region 410S, the radial distance from the axis of rotation X decreases as it moves toward one side in the circumferential direction (direction of arrow e). The first region 410N and the second region 410S are adjacent in the radial direction. That is, the first region 410N and the second region 410S appear alternately from the outside to the inside (or from the inside to the outside) in the radial direction. Both the first region 410N and the second region 410S are Archimedean spirals. The first region 410N and the second region 410S may both have a shape that rotates two or more times around the rotation axis X, three or more times, or four or more times, as they move radially from the outside to the inside. The first member 410 is a permanent magnet. The first member 410 may be a rare earth magnet, such as a samarium-cobalt magnet. The first region 410N and the second region 410S are formed by magnetizing the first member 410 into corresponding shapes. The first region 410N and the second region 410S each have different magnetic poles. For example, the first region 410N is the north pole and the second region 410S is the south pole. However, the north and south poles may be opposite. That is, the first region 410N may be the south pole and the second region 410S may be the north pole. By using such a first member 410, the radial movement distance of the second member can be limited. Furthermore, by using such a first member 410, the weight of the device can be reduced. The first member 410 shown in Figure 11 may be provided in place of the first member 10 in the device 1 of the first embodiment, in place of the first member 10 in the device 100 of the second embodiment, in place of the first member 10 in the device 200 of the third embodiment, in place of the first member 310 in the device 300 of the fourth embodiment, and may be used in combination with other modifications described herein.

[0053] The apparatus of the present invention may include a first member 510 as shown in Figure 12. The first member 510 is a rod-shaped member wound in a logarithmic spiral. However, the first member 10 may be a member wound in a spiral of another type. The first member 510 has a first surface 511 facing one side in the direction of rotation axis and a second surface 512 facing the other side. The first surface of the first member 510 is a first region 510N in which the radial distance from the rotation axis X decreases as it moves toward one side in the circumferential direction (direction of arrow e). The first member 510 is a permanent magnet. The first member 510 may be a rare earth magnet such as a samarium-cobalt magnet. For example, the first surface 511 (first region 510N) is the north pole and the second surface 512 is the south pole. However, the north pole and the south pole may be opposite. The first member 510 shown in Figure 12 may be provided in place of the first member 10 in the apparatus 1 of the first embodiment, in place of the first member 10 in the apparatus 100 of the second embodiment, in place of the first member 10 in the apparatus 200 of the third embodiment, in place of the first member 10 in the apparatus 300 of the fourth embodiment, in place of the first member 310, and may be used in combination with other modifications described herein.

[0054] In the apparatus of the present invention, the shape of the first region, and the shape of the second region if present, may be any shape in which the radial distance from the axis of rotation decreases as one side in the circumferential direction is approached. For example, if it is helical, then the Archimedes spiral (a spiral represented by r = aθ) and the logarithmic spiral (r = aθ) described above. ｂθ In addition to spirals represented by r = a / θ, there are also hyperbolic spirals (spirals represented by r = a / θ) and parabolic spirals (spirals represented by r = aθ). １／２ (The spiral represented by r = a / θ) １／２The spiral may be represented by ( ), or any other spiral shape. Furthermore, the shape of the first region, and the shape of the second region if present, may not make more than one rotation around the axis of rotation X. In other words, in the apparatus of the present invention, the shape of the first region, and the shape of the second region if present, are not particularly limited as long as the second member is movable in conjunction with the rotation of the first member. The contents described in this paragraph apply to all embodiments and modifications described herein.

[0055] In the apparatus of the present invention, it is sufficient that the second member is magnetically attracted to the first region of the first member. Therefore, in principle, neither the first member nor the second member has to be a permanent magnet. For example, the first member may be a permanent magnet, and the second member may be made of a material containing a ferromagnetic material such as iron, cobalt, or nickel. Conversely, the second member may have a permanent magnet, and the first region of the first member may be made of a material containing a ferromagnetic material such as iron, cobalt, or nickel. If both the first and second members have permanent magnets, they may be the same type of magnet or different types of magnets. For example, the first member may be a samarium-cobalt magnet, and the second member may be another magnet (for example, another rare-earth magnet such as a neodymium magnet, or a ferrite magnet, etc.). In this specification, the number of magnetic poles in the first and second members shown in each embodiment and each modification is merely illustrative, and for example, the second member may have one, three, four, or five or more magnetic poles. The provisions of this paragraph apply to all embodiments and modifications described herein.

[0056] Any mechanism may be used to transmit power from the rotary drive device to the first member. For example, a rubber tube or the like may be attached to the motor's rotating shaft, and the rubber tube may be brought into contact with the outer surface of the first member or support to rotate the first member or support using friction. When a gear reduction mechanism is used, there are no restrictions on the number or type of gears. A mechanism using a belt and pulley (belt drive) may also be used. The motor's rotating shaft may be parallel to the rotating shaft X of the first member, perpendicular to it, or at any other angle. The contents described in this paragraph apply to all embodiments and modifications described herein.

[0057] The first surface of the first member may be a curved surface. For example, the first surface of the first member may be a cone, a sphere, or any other curved surface. When the first surface of the first member is a curved surface, the second member can be moved not only radially but also axially, so the apparatus of the present invention can be flexibly applied depending on the application. The contents described in this paragraph apply to all embodiments and modifications described herein.

[0058] In the apparatus of the present invention, if the cover has a guide, the guide may be meandering, for example, as shown in the hole 31C in Figure 4C.

[0059] The second component may be equipped with wheels. In that case, the cover may be equipped with corresponding rails. By adopting such a configuration, the second component can move smoothly. The number of wheels equipped on the second component may be one, two, three, four, or five or more.

[0060] The second member may be for grasping or releasing an object. For example, an object can be grasped by moving the second member group toward the axis of rotation X, and conversely, the object can be released by moving the second member group toward the axis of rotation X. The second member may be for pulling an object. For example, the end of a membrane or thread-like object can be placed on the second member group, and the object can be spread, stretched, or extended by moving the second member group toward the axis of rotation X. The second member may be for transporting an object. For example, an object can be moved by placing it on the second member. The second member may be for operating other mechanisms. For example, the second member may move a member of another mechanism or change the angle of a member of another mechanism, thereby enabling the other mechanism to function. The second member may be for cutting an object. For example, an object can be cut by using a second member equipped with a blade. The contents described in this paragraph apply to all embodiments and modifications described herein.

[0061] The shape of the second member may be any shape. Examples of the shapes of the second member are shown in Figures 13A to 13F. The second member 621A shown in Figure 13A comprises a claw 621Aa and a magnet 621AM. The claw 621Aa can be used, for example, to grip an object. The second member 621B shown in Figure 13B comprises a hook 621Ba and a magnet 621BM. The hook 621Ba can be used, for example, to hang an object. The second member 621C shown in Figure 13C comprises a blade 621Ca with an edge 621Cb formed thereon and a magnet 621CM. The blade 621Ca can be used, for example, to cut an object. The second member 621D shown in Figure 13D comprises a circular hook 621Da and a magnet 621DM. The hook 621Da can be used, for example, to hang an object. The second member 621E shown in Figure 13E comprises a clamping portion 621Ea and a magnet 621EM. The clamping portion 621Ea can be used, for example, to clamp an object. The second member 621F shown in Figure 13F comprises an arm 621Fa and a magnet 621FM. The arm 621F can be used, for example, to precisely manipulate an object.

[0062] The apparatus of the present invention may include a mechanism for detecting the position of a second member. This makes it possible to instruct the movement of the second member in the apparatus of the present invention, and also to detect unexpected movements of the second member. In the apparatus of the present invention, a plurality of second members included in the group of second members may share positional information with each other.

[0063] The apparatus of the present invention may be one in which the first member is driven by a magnet and a coil. An example of such an apparatus, apparatus 700, is shown in Figures 14 to 17 as a fifth embodiment. Any modifications already described can be applied to this embodiment, except for those that are physically impossible.

[0064] As shown in Figure 14, the device 700 comprises a first member 710 that rotates around a virtual rotation axis X, and a second member group 720 that includes a plurality of second members 721 capable of reciprocating motion. The number of second members 721 in the device 700 is not particularly limited and may be one, two, three as shown, four, five, six, or seven or more.

[0065] In this embodiment, the first member 710 is formed in the shape of a disc. The first member 710 has a first surface 711 facing one side in the rotation axis direction (direction of arrow a) and a second surface 712 facing the other side in the rotation axis direction (direction of arrow b). The first surface 711 of the first member 710 has a first region 710N in which the radial distance from the rotation axis X decreases as it moves toward one side in the circumferential direction (direction of arrow e). The first surface 711 of the first member 710 also has a second region 710S in which the radial distance from the rotation axis X decreases as it moves toward one side in the circumferential direction.

[0066] The first region 710N and the second region 710S are adjacent in the radial direction. That is, the first region 710N and the second region 710S are arranged alternately from the outside to the inside (or from the inside to the outside) in the radial direction. In this embodiment, both the first region 710N and the second region 710S are helical. In this embodiment, both the first region 710N and the second region 710S are Archimedean spirals. However, the shapes of the first region 710N and the second region 710S may be any shape in which the radial distance from the axis of rotation decreases as one side in the circumferential direction is approached. These shapes may be, for example, logarithmic spirals, hyperbolic spirals, parabolic spirals, Lithusian spirals, or other spiral shapes. The first region 710N and the second region 710S may both have a shape that rotates two or more times around the rotation axis X while moving from the outside to the inside in the radial direction, or it may rotate four or more times, or it may rotate six or more times, or it may rotate eight or more times.

[0067] In this embodiment, the first member 710 is a permanent magnet. The first member 710 may be a rare-earth magnet, such as a samarium-cobalt magnet. The first region 710N and the second region 710S are formed by magnetizing the first member 710 into corresponding shapes. The first region 710N and the second region 710S each have different magnetic poles. For example, the first region 710N is the north pole and the second region 710S is the south pole. However, the north and south poles may be reversed. That is, the first region 710N may be the south pole and the second region 710S may be the north pole. The surface of the first member 710 may be coated or painted. The surface of the first member 710 may also be protected by a sheet or film. In this embodiment, the first member 710, the first region 710N, and the second region 710S may be changed to those described in the various modifications already mentioned. The first member 710 does not necessarily have to have the second region 710S.

[0068] In the direction of rotation axis, the second member group 720 is arranged on one side of the first member 710 (in the direction of arrow a). The second member 721 included in the second member group 720 is magnetically attracted to the first region 710N and the second region 710S of the first member 710. The second member group 720 is arranged at predetermined intervals in the circumferential direction. In this embodiment, the second member group 720 is arranged at equal angular intervals in the circumferential direction. The shape and structure of the second member 721 included in the second member group 720 may be the same as or different from any of the other embodiments and modifications already described.

[0069] In the direction of rotation, the cover 730 covers one side of the first member 710. In the direction of rotation, the cover 730 is separated from the first member 710. The cover 730 has radially extending holes (slits) 731, the same number as the second member 721 included in the second member group 720 (three in this embodiment). The width of the holes 731 is approximately the same as the width of the second member 721, or slightly wider than the width of the second member 721. The second member 721 protrudes through the holes 731 of the cover 730 to one side in the axial direction (direction of arrow a). The second member 721 is in contact with the first surface 711 of the first member 710 and is slidable relative to the first surface 711. The first member 710 is rotatable relative to the cover 730, but the circumferential movement of the second member 721 is restricted by the holes 731 of the cover 730.

[0070] The rotational drive mechanism of the device 700 will now be described in detail. Figure 15 shows a part of the fixed part of the device 700 (a part that is fixed to an external device not shown). The device 700 includes a base 740. The base 740 includes a plate 741 and a frame 742. In the illustrated form, the plate 741 is formed in the shape of a disc, and the frame 742 is formed in the shape of a cylinder. However, the shape and size of the plate 741 and the frame 742 are not limited to those shown. The base 740 does not have to have a frame 742. The base 740 may be a part of an external device. The base 740 may be connected to the cover 730 described above, or it may be an integral member with the cover 730.

[0071] As shown in Figure 15, one or more coils 750 are provided on the plate 741 of the base 740. In the illustrated configuration, the coil 750 is divided into three parts. The coils 750 are arranged in a circumferential direction. The coils 750 may be, for example, circuits (planar coils) printed on the plate 741 itself or on a substrate provided on the plate 741. The coils 750 may be formed from conductors or electric wires. The coils 750 are, for example, two-phase planar coils (serpentine coils). The coils 750 are electrically connected to a power supply device or the like (not shown). The coils 750 are provided so as to face the third member 770, which will be described later, in the axial direction. However, depending on the orientation of the magnetic poles of the third member 770, the coils 750 may be provided so as to face the third member 770 in the radial direction.

[0072] As shown in Figure 15, the plate 741 of the base 740 comprises a plurality of sheets 760 (three in the illustrated configuration) extending in the circumferential direction. The plurality of sheets 760 are arranged side by side in the circumferential direction. Each of the plurality of sheets 760 extends in an arc shape. Each of the plurality of sheets 760 is positioned between two divided coils 750 in the circumferential direction. The plurality of sheets 760 may be formed of a material with excellent sliding properties, or may be coated with a fluororesin or the like with excellent sliding properties. Alternatively, a part of the base 740 may be painted with a fluororesin or the like with excellent sliding properties, and that part may be considered as a sheet 760. Stoppers 761 may be provided at both ends of each of the plurality of sheets 760, as shown in the figure. There are no particular restrictions on the number and shape of the plurality of sheets 760, as long as they are arranged so that the protrusions 780 described later can contact and slide against them.

[0073] Figure 16 shows the rotating part of the device 700 (the part that rotates relative to the fixed part described above). The device 700 includes a third member 770 connected to the outer circumference of the first member 710. In the illustrated form, three arc-shaped third members 770 are connected to the first member 710. However, the number of third members 770 is arbitrary. In one modified example, the third member 770 may be formed in an annular shape that encircles the outer circumference of the first member 710. The third member 770 may be formed integrally with the first member 710 (it may be a part of the first member 710), or it may be formed separately from the first member 710 and then joined to the first member 710. Also, the third member 770 may be connected to the first member 710 via another member such as a plate. The third member 770 is a permanent magnet. Preferably, the third member 770 is a rare-earth iron-based magnet. The third member 770 may be anisotropic or isotropic. The thickness (axial dimension) of the third member 770 may be thinner than that of the first member 710, the same as that of the first member 710, or thicker than that of the first member 710. Increasing the thickness (axial dimension) of the third member 770 may improve the torque for driving.

[0074] The third member 770 is provided with a plurality of magnetic poles 771, 772 arranged in the circumferential direction. The plurality of magnetic poles 771, 772 are regions formed by alternately magnetizing the third member 770 in the circumferential direction. For example, magnetic pole 771 may be an N pole and magnetic pole 772 may be an S pole. The number of magnetic poles of the third member 770 is not particularly limited as long as there are two or more poles. Each of the plurality of magnetic poles 771, 772 faces the coil 750 in the axial direction. The third member 770 may be magnetized only on the side facing the coil 750, or both sides in the axial direction may be magnetized. Alternatively or additionally, the outer circumferential surface of the third member 770 may be magnetized. In the illustrated embodiment, the other side of the third member 770 in the axial direction (direction of arrow b) is magnetized.

[0075] The third member 770 moves circumferentially along the coil 750 due to magnetic interaction with the opposing coil 750. Since the third member 770 is connected to the first member 710, the first member 710 rotates around the rotation axis X as the third member 770 moves. When the first member 710 rotates around the rotation axis X, the second member 721, which is magnetically attracted to the first member 710, attempts to move circumferentially in accordance with the rotation of the first member 710. However, the movement of the second member 721 is restricted by the hole 731 in the cover 730, so the second member 721 cannot move circumferentially beyond the hole 731. Therefore, when the first member 710 rotates, the second member 721 slides circumferentially relative to the first surface 711 of the first member 710. Here, the first region 710N and the second region 710S of the first member 710 are formed such that the radial distance from the axis of rotation X decreases as they move toward one side in the circumferential direction (direction of arrow e in Figure 14). Therefore, when the first member 710 rotates in the direction of arrow f, the first region 710N and the second region 710S appear to move radially inward (direction of arrow d) in the hole 731. As a result, the second member 721 moves along the hole 731 so as to approach the axis of rotation X in the radial direction. In this way, the device 700 is driven by the magnetic interaction between the third member 770 and the coil 750.

[0076] As shown in Figure 16, the first member 710 has a plurality of (three in the illustrated form) protrusions 780. The number of protrusions 780 is not particularly limited, but having three or more makes it easier to control the orientation of the first member 710. The number of protrusions 780 may be four, five, six, or seven or more. The protrusions 780 project outward in the radial direction (direction of arrow c) and to the other side in the axial direction (direction of arrow b).

[0077] Figure 17 is a cross-sectional view showing an enlarged view of the area around the protruding portion 780. However, the cover 730 is omitted in Figure 17. As shown in Figure 17, the protruding portion 780 protrudes toward the plate 741 of the base 740. The protruding portion 780 is provided with a convex portion 781 that protrudes toward the sheet 760. When the first member 710 rotates, the convex portion 781 slides in contact with the sheet 760. In this way, each of the multiple protruding portions 780 slides in contact with each of the multiple sheets 760, so that the first member 710 moves toward the base 740 at an axial distance D １ It can rotate while maintaining its position. The protrusion 780 may be made of a material with excellent sliding properties, or it may be coated with a fluororesin or the like with excellent sliding properties. In the illustrated form, the protrusion 780 has a recess 782 that opens to one side in the axial direction (direction of arrow a). However, the protrusion 780 may have any shape and structure as long as it allows for attitude control of the first member 710.

[0078] In the device 700, the first member 710 and the third member 770 may be provided on another common member such as a plate. In this case, the attitude control of the first member 710 may be performed by a plurality of ribs or the like provided on the other member instead of, or in addition to, the protrusion 780. One or more coils 750 may be provided on the frame 742 of the base 740, or on the cover 730. In this case, the magnetic poles 771 and 772 of the third member 770 may be provided on the radially outer side or on one side in the axial direction (direction of arrow a).

[0079] [Applications] The applications of the device of the present invention are not particularly limited. The device of the present invention may be used, for example, as a microgripper for industrial, commercial, or entertainment robots, or for other applications. The device of the present invention may be used in surgical instruments, such as surgical robots or endoscopes. In that case, the second member may have a function that allows for medical procedures such as grasping or cauterizing a diseased area. The second member may also be easily replaceable. The device of the present invention may be used in industrial endoscopes. In that case, the device of the present invention may be configured to allow for inspection of water pipes, etc., or simple procedures. The device of the present invention may be used as a component of a vacuum cleaner such as a microcleaner. In the device of the present invention, as long as the second member is magnetically attracted to the first member, the first member and the second member can be separated. For example, by placing the first member on the outer wall of the water tank and the second member with a cleaning cloth attached on the inner wall, it can be used for cleaning water tanks. The device of the present invention may be used in micropumps. The device of the present invention may be used for IPD adjustment of head-mounted displays, etc. Because the device of the present invention produces little vibration during operation, it may be used for stage movement and focus adjustment in microscopes and the like. The device of the present invention may be used in optical instruments to adjust or reflect light. The device of the present invention may be used in optical instruments to move lenses, mirrors, light emitters, etc. The device of the present invention may be used as a substitute for an iris mechanism in optical instruments such as cameras to reduce the amount of light. In this case, the second member may be a blade for reducing the amount of light, and the first member may have holes as shown in Figure 11, first member 410. The device of the present invention may be used for transporting microplastics and the like.

[0080] Those skilled in the art can modify the apparatus of the present invention as appropriate, and change the shape, dimensions, and combinations of various components, in accordance with conventionally known knowledge. Such modifications, insofar as they still possess the configuration of the present invention, are of course included within the scope of the present invention.

[0081] 1, 100, 200, 300... Apparatus, 10, 310, 410, 510... First member, 11, 311, 411, 511... First surface, 12, 312, 512... Second surface, 10N, 410N, 510N... First region, 10S, 410S... Second region, 20, 320... Second member group, 21, 321... Second member, 21Wa... Gripping part, 30, 130, 330... Cover, 31, 331... Hole, 131... Guide, 40, 240, 340... Support part, 50, 250, 350... Rotation drive device, X... Rotation shaft.

Claims

1. A device comprising a first member and a second member that rotate around a rotation axis, wherein the first member has a first surface facing one side in the direction of the rotation axis, the first surface has a first region in which the radial distance from the rotation axis decreases as it moves toward one side in the circumferential direction, the second member is magnetically attracted to the first region of the first member, and when the first member rotates, the second member moves.

2. The apparatus according to claim 1, wherein the first region comprises a magnetic pole.

3. The apparatus according to claim 2, wherein the first surface has a second region in which the radial distance from the axis of rotation decreases as it is directed toward one side in the circumferential direction, and the first region and the second region are radially adjacent.

4. The apparatus according to claim 3, wherein the second region has magnetic poles different from those of the first region.

5. The apparatus according to any one of claims 1 to 4, wherein the first region is spiral-shaped.

6. The apparatus according to claim 5, wherein the first region is in the shape of an Archimedean spiral.

7. The apparatus according to any one of claims 1 to 4, wherein the second member moves such that the radial distance from the rotation axis changes.

8. The apparatus according to any one of claims 1 to 4, wherein the second member is in contact with the first member.

9. The apparatus according to any one of claims 1 to 4, wherein the movement of the second member is restricted by a guide or a hole.

10. The apparatus according to claim 9, comprising a cover that covers one side of the first member in the direction of rotation axis, the cover comprising the guide or the hole, and the first member being rotatable relative to the cover.

11. The apparatus according to claim 10, comprising a support portion, wherein the first member has a second surface facing the other side in the direction of rotation axis, the second surface is supported by the support portion, and the support portion is rotatable relative to the cover.

12. The apparatus according to claim 11, comprising a rotary drive device, wherein the rotary drive device rotates the support portion.

13. The apparatus according to claim 12, wherein the rotary drive device rotates the support portion by applying force to the outer circumference of the support portion.

14. The apparatus according to claim 12, wherein the rotational drive device is located on one side or the other side of the support portion in the direction of rotational axis.

15. The apparatus according to any one of claims 1 to 4, comprising a second group of members including the second member.

16. The apparatus according to any one of claims 1 to 4, wherein the second member comprises a gripping portion.

17. The apparatus according to any one of claims 1 to 4, further comprising a third member connected to the first member, wherein the third member comprises a plurality of magnetic poles arranged in the circumferential direction, and each of the plurality of magnetic poles faces one or more coils.

18. The apparatus according to claim 17, wherein the first member rotates in conjunction with the movement of the third member.

19. The apparatus according to claim 17 or 18, wherein one or more coils are provided on a plate.

20. The apparatus according to claim 19, wherein the first member comprises a plurality of protrusions projecting toward the plate, the plate comprises a plurality of sheets extending in the circumferential direction, and each of the plurality of protrusions slides in contact with each of the plurality of sheets.

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