JP7070214B2 - Rotating actuators and robots - Google Patents

Description

The present invention relates to a rotary actuator equipped with a motor and a rotation regulating mechanism for regulating the rotation of a stopped motor, and which can be mounted on an industrial machine such as a robot, and a robot including the rotary actuator.

As a conventional industrial robot, a base as a support member, a first arm connected to the base via a joint portion, a second arm connected to the tip end side of the first arm via a joint portion, and a joint. Some are provided with a wrist portion connected to the tip end side of the second arm via the portion. Further, in this type of industrial robot, the joint portion itself includes a motor having a rotor and a stator, a speed reducer connected to the motor, and a safety brake for maintaining the stopped state of the rotor. Is configured as a rotary actuator.

As a rotary actuator mounted on such an industrial robot, a motor is known to include a motor and a rotation regulation mechanism for regulating the rotation of a stopped motor (see, for example, Patent Document 1). ..

In the rotary actuator of Patent Document 1, the rotation regulation mechanism is a disk-shaped rotation side regulation member fixed to the rotor of the motor and a pin-shaped fixed side that engages with the rotation side regulation member to regulate the rotation movement thereof. It is provided with a regulating member and a drive mechanism for moving the fixed-side regulating member in the axial direction of the rotor. Further, a plurality of protrusions protruding outward in the radial direction of the rotor are provided on the peripheral edge of the rotation side regulating member. Then, at the tip of the fixed-side restricting member, an annular restricting portion is provided which enters between the protrusions adjacent to each other in the circumferential direction and regulates the rotational movement of the rotating-side restricting member.

Japanese Unexamined Patent Publication No. 2017-189081

However, since the rotary actuator of Patent Document 1 has a structure in which the protrusion and the regulation portion engage (collision) to stop the rotor, for example, the regulation portion enters between the protrusions during rotation of the motor. In this case, the rotational force is transmitted to the regulation portion as it is until the rotor is stopped, and an excessive load is applied as an impact force. As a result, the fixed-side regulating member may be damaged or deformed, causing backlash or the like over time, and its performance may not be fully exhibited, and there is room for improvement in terms of durability.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a rotary actuator capable of improving the durability of a rotation regulation mechanism for regulating the rotation of a rotor and a robot provided with the rotary actuator. There is.

(1)
With a motor having a rotor and a stator,
It is equipped with a rotation regulation mechanism for restricting the rotation of the stopped rotor.
The rotation restricting mechanism is inserted between an annular rotation side restricting member fixed to the rotor and a plurality of protrusions formed along the circumferential direction on the outer peripheral surface of the rotation side restricting member. It has a regulation unit including a regulation member that regulates the movement of the rotation side regulation member in a direction, and a drive mechanism for moving the regulation member in the axial direction of the rotor.
A rotary actuator including a support portion that movably supports the restricting unit in one direction in which the distance between the center of the rotating side restricting member and the restricting member is variable in a plane perpendicular to the axial direction.

The rotary actuator (1) includes a support portion that movably supports the regulating unit in one direction in which the distance between the center of the rotating side regulating member and the regulating member is variable in a plane perpendicular to the axial direction of the rotor. Therefore, since the regulating member of the regulating unit can move in the direction away from the center of the rotating side regulating member, when the regulating member of the regulating unit enters between adjacent protrusions of the rotating side regulating member during rotation of the rotor, A part of the force received by the regulating member of the regulating unit from the protrusion can be released to alleviate the impact force. Therefore, it is possible to suppress the occurrence of damage or deformation of the regulation unit and improve the durability of the rotation regulation mechanism.

(2)
(1) The rotary actuator according to the above.
The one direction is a rotary actuator along a line connecting the regulating member and the center of the rotating side regulating member.

When configured as in (2), the regulating unit can move in a direction perpendicular to the tangent line of the virtual circle along the circumferential direction of the rotating side regulating member, so that the regulating member receives from the protrusion of the rotating side regulating member. Part of the force can be released efficiently.

(3)
The rotary actuator according to (1) or (2).
The regulation unit is arranged in a linear protrusion or a linear groove formed in a fixing member, and has an engaging portion that engages with the linear protrusion or the linear groove portion, and has the linear protrusion. The portion or the linear groove portion and the engaging portion engage with each other and are slidably guided along the linear protrusion portion or the linear groove portion to move in the one direction.
A rotary actuator in which the width of the linear protrusion or the linear groove in a direction orthogonal to the one direction is substantially the same as the width of the engaging portion in the direction.

When configured as in (3), the position of the regulating unit in the direction orthogonal to one direction is regulated by the linear protrusion or the linear groove, and the relationship between the linear protrusion or the linear groove and the regulating unit. Since the fitting gap is provided small in the engaged state with the joint portion, it is possible to suppress the occurrence of backlash and accurately position the regulating member.

(4)
The rotary actuator according to any one of (1) to (3).
The support portion is a rotary actuator including at least one urging member that urges the regulating unit toward the rotating side regulating member.

When configured as in (4), the regulating unit is urged toward the rotating side regulating member by the urging member, so that the urging force is applied even if the regulating unit moves in a direction away from the rotating side regulating member. It is returned to the rotation side regulation member side, and the regulation by the regulation member can be surely performed.
The urging member is not particularly limited as long as it generates an urging force, and examples thereof include a spring and rubber capable of generating an elastic force as the urging force.

(5)
(4) The rotary actuator according to the above.
The support includes the two urging members.
The two urging members are rotary actuators that urge the restricting unit toward the rotating side restricting member by pulling the restricting unit toward the rotating side restricting member.

With the configuration as shown in (5), two urging members can be arranged on the rotation shaft side of the rotor with respect to the regulation unit, so that it is possible to avoid an increase in the size of the rotation actuator, which is preferable.

(6)
(5) The rotary actuator according to the above.
Each of the two urging members is a rotary actuator that pulls the regulation unit at the same angle with respect to the one direction.

With the configuration as shown in (6), the regulating unit can be urged toward the rotating shaft of the rotor without loss of tensile force (urging force). Further, by arranging the two urging members at the same angle with respect to one direction, the urging member can be urged toward the rotation axis of the rotor, for example, pulling in a well-balanced manner along the linear protrusion or the linear groove portion of the fixing member. Can be done.

(7)
(4) The rotary actuator according to the above.
The support portion comprises one said urging member.
The urging member is a rotary actuator that urges the regulating unit toward the rotating side regulating member by pushing the regulating unit in the one direction.

With the configuration as shown in (7), the regulating unit can be urged toward the rotating side regulating member by one urging member, so that the structure can be simplified and the manufacturing cost can be reduced.

(8)
The rotary actuator according to any one of (4) to (7).
The regulation unit includes a support member that movably supports the regulation member in the axial direction.
The urging member is a rotary actuator fixed to the support member.

With the configuration as shown in (8), since the urging member is fixed to the support member, the regulation unit can be stably urged by urging the support member with the urging member.

(9)
The rotary actuator according to any one of (1) to (8).
The drive mechanism is a rotary actuator that is in contact with the restricting member in a non-fixed state.

With the configuration as shown in (9), when the regulation unit moves, the drive mechanism does not need to move with the movement, so that the structure can be simplified and the manufacturing cost can be reduced.

(10)
A robot having a joint portion composed of the rotary actuator according to any one of (1) to (9).

According to (10), durability can be improved.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a rotary actuator and a robot capable of improving the durability of a rotation regulation mechanism for regulating the rotation of a rotor.

It is a front view of the industrial robot which concerns on embodiment of this invention. (A) is a perspective view of the industrial robot shown in FIG. 1, and (B) is a perspective view showing a state in which the industrial robot shown in (A) is operating. It is a vertical sectional view of the joint part shown in FIG. It is an enlarged view for demonstrating the structure of part G shown in FIG. 3, (A) is an enlarged view which shows the state which the regulation unit is in a regulation release position, and (B) is the state which a regulation unit is in a regulation position. It is an enlarged view which shows. It is a schematic view seen from the upper surface for demonstrating the structure of the rotation side regulation member, the regulation unit, the support part and the urging member shown in FIG. FIG. 3 is a schematic view of the regulation unit and the fixing member shown in FIG. 3 as viewed from the radial outside of the rotor. It is a schematic view seen from the upper surface for demonstrating the modification of the support part and the urging member which concerns on embodiment of this invention.

Hereinafter, embodiments according to the present invention will be described with reference to the drawings.

(Outline configuration of industrial robot)
First, with reference to FIGS. 1 and 2, the outline of the configuration of the industrial robot according to the embodiment of the present invention will be described. FIG. 1 is a front view of an industrial robot according to an embodiment of the present invention. 2 (A) is a perspective view of the industrial robot shown in FIG. 1, and FIG. 2 (B) is a perspective view showing how the industrial robot shown in FIG. 2 (A) is operating.

As shown in FIGS. 1 and 2, the industrial robot (hereinafter, also referred to as “robot”) 1 of this embodiment is an articulated robot used for assembling or manufacturing a predetermined product, and is used in an assembly line or a manufacturing line. Installed and used. The robot 1 includes a plurality of joint portions 2 and a plurality of arms 3. In this embodiment, the robot 1 includes six joints 2 and two arms 3.
In the following description, when each of the six joints 2 is represented separately, each of the six joints 2 is referred to as "first joint 2A", "second joint 2B", and "third joint". "Part 2C", "4th joint part 2D", "5th joint part 2E" and "6th joint part 2F". Further, in the following description, when each of the two arms 3 is represented separately, each of the two arms 3 is referred to as a “first arm 3A” and a “second arm 3B”.

Further, the robot 1 further includes a support member 4 that is rotatably connected to the first joint portion 2A. The support member 4 has a flange portion 4a and is formed in a cylindrical shape with a flange. A through hole (not shown) that penetrates the support member 4 in the axial direction is formed on the inner peripheral side of the support member 4. The flange portion 4a is formed in an annular shape, and constitutes a bottom surface portion as a base of the robot 1. Further, the arm 3 is formed in an elongated cylindrical shape.

In the robot 1, the first joint portion 2A and the second joint portion 2B are connected so as to be relatively rotatable, and the second joint portion 2B and the base end of the first arm 3A are fixed. Further, the tip of the first arm 3A and the third joint portion 2C are fixed, and the third joint portion 2C and the fourth joint portion 2D are connected so as to be relatively rotatable. Further, the 4th joint 2D and the base end of the 2nd arm 3B are connected so as to be relatively rotatable, the tip of the 2nd arm 3B and the 5th joint 2E are fixed, and the 5th joint 2E and the 6th are fixed. The joint portion 2F is connected so as to be relatively rotatable. Further, a hand, a tool, or the like can be attached to the 6th joint portion 2F so as to be relatively rotatable.

Hereinafter, a specific configuration of the joint portion 2 will be described. As shown in FIG. 1, in this embodiment, the first joint portion 2A, the second joint portion 2B, and the third joint portion 2C are formed to have the same size, and the fourth joint portion 2D and the fifth joint portion 2E are formed. And the 6th joint 2F are formed in the same size. Further, the sizes of the first joint portion 2A, the second joint portion 2B, and the third joint portion 2C are provided to be larger than the sizes of the fourth joint portion 2D, the fifth joint portion 2E, and the sixth joint portion 2F. .. However, except that the sizes of the first joint part 2A, the second joint part 2B and the third joint part 2C are different from those of the fourth joint part 2D, the fifth joint part 2E and the sixth joint part 2F. It is configured in the same way.

(Composition of joints)
Next, the configuration of the joint portion 2 will be specifically described with reference to FIGS. 3 to 6. FIG. 3 is a vertical cross-sectional view of the joint portion 2 shown in FIG. 4A and 4B are enlarged views for explaining the configuration of the G portion shown in FIG. 3, and FIG. 4A is an enlarged view showing a state in which the regulation unit 32 is in the regulation release position, and FIG. 4B is an enlarged view. Is an enlarged view showing a state in which the regulation unit 32 is in the regulation position. FIG. 5 is a schematic view seen from above for explaining the configuration of the rotation side regulating member 31, the regulating unit 32, the support portion 71, and the two compression coil springs (biasing members) 71b shown in FIG. FIG. 6 is a schematic view of the regulation unit 32 and the fixing member 70 shown in FIG. 3 as viewed from the radial outside of the rotor.
In the following description, for convenience of explanation, the Z1 direction side of FIG. 3 is referred to as the "upper" side, and the opposite side, the Z2 direction side, is referred to as the "lower" side. Further, the X1 direction side in FIG. 3 is the "left" side, and the opposite side, the X2 direction side, is the "right" side.

As shown in FIG. 3, the joint portion 2 includes a motor 10, a speed reducer 20 connected to the motor 10, a position detection mechanism 60 for detecting the rotational position of the motor 10, and the motor 10 and the position detection mechanism 60. Is configured to include a circuit board B to which the motor is electrically connected, a case body 80 for accommodating a motor 10, a speed reducer 20, a position detection mechanism 60, and a circuit board B, and the joint portion 2 itself rotates. It is configured as an actuator.

The motor 10 is a hollow motor having a through hole formed in the center in the radial direction, and includes a hollow rotating shaft 12. Further, the motor 10 includes a rotor 11 and a stator 14. Further, the speed reducer 20 is a hollow speed reducer in which a through hole is formed in the center in the radial direction. The motor 10 and the speed reducer 20 are arranged so as to overlap each other in the vertical direction. Specifically, the motor 10 is arranged on the upper side, and the speed reducer 20 is arranged on the lower side. Further, the motor 10 and the speed reducer 20 are arranged coaxially.

The speed reducer 20 of this embodiment is a hollow wave gear device, and includes a rigid internal gear 21, a flexible external gear 22, a wave generating unit 23, and a cross roller bearing 26. The wave generation unit 23 includes a hollow input shaft 24 connected to the rotating shaft 12 of the motor 10 and a wave bearing 25 attached to the outer peripheral side of the input shaft 24. In this embodiment, the rigid internal gear 21 is the output shaft of the speed reducer 20.

Further, the joint portion 2 is a cylindrical tubular body inserted into the rotation regulating mechanism 30 that regulates the rotation of the stopped rotor 11 and the inner peripheral side of the rotating shaft 12 of the motor 10 and the input shaft 24 of the speed reducer 20. A member 17 and an output side member 18 fixed to the rigid internal gear 21 are further provided.

As described above, the motor 10 includes a rotor 11 and a stator 14. The rotor 11 includes a rotating shaft 12 and a driving magnet 13 fixed to the rotating shaft 12. The rotary shaft 12 is formed in a substantially cylindrical shape elongated in the vertical direction, and is arranged so that the axial direction and the vertical direction of the rotary shaft 12 coincide with each other. That is, the vertical direction is the axial direction of the rotating shaft 12 and the axial direction of the rotor 11. The drive magnet 13 is formed in a cylindrical shape. The length (length in the vertical direction) of the driving magnet 13 is set shorter than that of the rotating shaft 12, and the driving magnet 13 is fixed to the outer peripheral surface of the lower end side portion of the rotating shaft 12.

The stator 14 is formed in a substantially cylindrical shape as a whole, and is arranged on the outer peripheral side (diameter outer side) of the driving magnet 13 so as to cover the outer peripheral surface of the driving magnet 13. The upper end side portion of the rotating shaft 12 projects upward from the upper end surface of the stator 14. The stator 14 includes a drive coil (not shown) and a stator core (not shown) having a plurality of salient poles around which the drive coil is wound via an insulator. The salient pole of the stator core is formed so as to project toward the inner peripheral side, and the tip surface of the salient pole faces the outer peripheral surface of the driving magnet 13. The motor 10 is fixed to the case body 80. Specifically, the outer peripheral surface of the stator 14 is fixed to the case body 80.

As described above, the speed reducer 20 includes a rigid internal gear 21, a flexible external gear 22, a wave generation unit 23, and a cross roller bearing 26. The rigid internal gear 21 is formed in a flat and substantially cylindrical shape, and is arranged so that the axial direction and the vertical direction of the rigid internal gear 21 coincide with each other. That is, the vertical direction is the axial direction of the rigid internal gear 21 which is the output shaft of the speed reducer 20. The rigid internal gear 21 is fixed to the inner ring 26a of the cross roller bearing 26. The outer ring 26b of the cross roller bearing 26 is fixed to the lower end side portion of the case body 80, and the rigid internal gear 21 is rotatably held by the lower end side portion of the case body 80 via the cross roller bearing 26. There is.

The flexible external gear 22 has a flange portion 22a at the upper end and is formed in a substantially cylindrical shape with a flange. The flange portion 22a is formed in a substantially annular shape, and the outer peripheral side portion of the flange portion 22a is fixed to the case body 80. That is, the speed reducer 20 is fixed to the case body 80. Further, the rigid internal gear 21 constitutes a lower end side portion of the speed reducer 20. The flange portion 22a of the flexible external gear 22 constitutes an upper end side portion of the speed reducer 20. Internal teeth are formed on the inner peripheral surface of the rigid internal gear 21. External teeth that mesh with the internal teeth of the rigid internal gear 21 are formed on the outer peripheral surface of the flexible external gear 22 on the lower end side.

As described above, the wave generation unit 23 includes an input shaft 24 and a wave bearing 25. The input shaft 24 is formed in a cylindrical shape elongated in the vertical direction as a whole, and is arranged so that the axial direction and the vertical direction of the input shaft 24 coincide with each other. Further, the portion of the input shaft 24 other than the lower end side portion is formed in an elongated substantially cylindrical shape. In the lower end side portion of the input shaft 24, the shape of the inner peripheral surface when viewed from the axial direction of the input shaft 24 is formed in a circular shape, and the shape of the outer peripheral surface when viewed from the axial direction of the input shaft 24 is formed. The elliptical portion 24a has an elliptical shape.

The upper end side portion of the input shaft 24 of the wave generating portion 23 is inserted and fixed to the inner peripheral side of the lower end side portion of the rotating shaft 12 of the motor 10. Specifically, the upper end side portion of the input shaft 24 is inserted and fixed to the inner peripheral side of the portion of the rotating shaft 12 to which the driving magnet 13 is fixed. The rotating shaft 12 and the input shaft 24 are arranged coaxially. Further, the upper end side portion of the input shaft 24 is fixed to the rotating shaft 12 by adhesion.

The central portion of the input shaft 24 in the vertical direction is rotatably supported by the bearing 16. The bearing 16 is a ball bearing. The bearing 16 is attached to the bearing holding member 15, and the bearing holding member 15 is fixed to the case body 80. That is, the input shaft 24 is rotatably supported by the bearing 16 attached to the case body 80 via the bearing holding member 15. The bearing holding member 15 is formed in an annular shape and a flat plate shape, and is fixed to the case body 80 so as to overlap the flange portion 22a of the flexible external gear 22 in the vertical direction.

The wave bearing 25 is a ball bearing having a flexible inner ring (not shown) and an outer ring (not shown). The wave bearing 25 is arranged along the outer peripheral surface of the elliptical portion 24a and is bent in an elliptical shape. The lower end portion of the flexible external tooth gear 22 on which the external teeth are formed is arranged on the outer peripheral side of the wave bearing 25 so as to surround the wave bearing 25, and this portion is bent in an elliptical shape. The external teeth of the flexible external gear 22 mesh with the internal teeth of the rigid internal gear 21 at two points in the long axis direction of the lower end side portion of the flexible external gear 22 that bends in an elliptical shape. ..

The output side member 18 has a flange portion 18a and a tubular portion 18b, and is formed in a substantially cylindrical shape with a flange. The output side member 18 is arranged so that the axial direction and the vertical direction of the output side member 18 coincide with each other, and a through hole 18c penetrating in the vertical direction is formed on the inner peripheral side of the output side member 18. ing. The flange portion 18a is formed in a flat plate shape and an annular shape, and is connected to the lower end of the tubular portion 18b. The flange portion 18a is fixed to the rigid internal gear 21 so that the upper surface of the flange portion 18a comes into contact with the lower surface of the rigid internal gear 21. Further, the flange portion 18a is arranged below the lower end of the case body 80, and is arranged outside the case body 80.

A small diameter portion 18d having a smaller outer diameter than the lower end side portion of the cylinder portion 18b is formed on the upper end side of the cylinder portion 18b, and a circle orthogonal to the vertical direction is formed on the outer peripheral side of the upper end side portion of the cylinder portion 18b. An annular stepped surface 18e is formed. The small diameter portion 18d is inserted into the inner peripheral side of the lower end side portion of the tubular member 17, and the lower end surface of the tubular member 17 faces the stepped surface 18e. Further, the through hole 18c leads to the inner peripheral side of the tubular member 17. The upper end side portion of the tubular portion 18b is arranged on the inner peripheral side of the lower end side portion of the input shaft 24 of the speed reducer 20. A bearing 19 is arranged between the outer peripheral surface of the tubular portion 18b and the inner peripheral surface of the lower end side portion of the input shaft 24. The bearing 19 is a ball bearing.

The tubular member 17 is formed in an elongated cylindrical shape in the vertical direction, and is arranged so that the axial direction and the vertical direction of the tubular member 17 coincide with each other. As described above, the tubular member 17 is inserted into the inner peripheral side of the rotating shaft 12 and the input shaft 24. The upper end surface of the tubular member 17 is arranged above the upper end surface of the rotating shaft 12, and the lower end surface of the tubular member 17 is arranged above the lower end surface of the input shaft 24. Further, as described above, the small diameter portion 18d of the output side member 18 is inserted into the inner peripheral side of the lower end side portion of the tubular member 17, and the lower end surface of the tubular member 17 faces the stepped surface 18e. The lower end side of 17 is held by the output side member 18.

The upper end side of the tubular member 17 is held by the holding member 50. The holding member 50 is fixed to the support column 51, and the support column 51 is fixed to the case body 80. That is, the holding member 50 is fixed to the case body 80 via the support column 51. The holding member 50 includes a cylindrical holding portion 50a that holds the upper end side of the tubular member 17. The holding portion 50a is arranged so that the axial direction and the vertical direction of the holding portion 50a coincide with each other, and a through hole 50b penetrating in the vertical direction is formed on the inner peripheral side of the holding portion 50a.

A large diameter portion 50c having an inner diameter larger than that of the upper end side of the holding portion 50a is formed on the lower end side of the holding portion 50a, and a circle orthogonal to the vertical direction is formed on the inner peripheral side of the lower end side portion of the holding portion 50a. An annular stepped surface 50d is formed. The upper end side of the tubular member 17 is inserted into the inner peripheral side of the large diameter portion 50c, and the upper end surface of the tubular member 17 faces the stepped surface 50d. Further, the through hole 50b leads to the inner peripheral side of the tubular member 17.

The position detection mechanism 60 is arranged above the stator 14 of the motor 10. The position detection mechanism 60 includes a slit plate 61 fixed to the upper end side of the rotating shaft 12 and a sensor 62. The sensor 62 is a transmissive optical sensor including a light emitting element and a light receiving element arranged so as to face each other. The sensor 62 is fixed to a fixing member 70 as an encoder holder.

The fixing member 70 is formed in a flat plate shape and an annular shape, and is fixed to the case body 80. The sensor 62 is arranged on the upper surface of the portion of the fixing member 70 on one side in the radial direction (left side in FIG. 3), and is fixed to the case body 80 via the fixing member 70. Further, as shown in FIG. 5, the two support portions 71, 71 for slidably supporting the regulation unit 32, which will be described later, have the sensor 62 and the tubular member 17 on the upper surface of the fixing member 70. It is arranged so as to sandwich it. The support portion 71 has a support main body 71a and a compression coil spring 71b as an urging member. As shown in FIGS. 3 and 5, the support main body 71a of the support portion 71 is formed in a block shape, and is provided so as to project upward and integrally with the fixing member 70. Further, as shown in FIGS. 3, 4, and 6, a linear rib portion 72e, which will be described later, is similarly projected upward and fixed on the other side in the radial direction (right side in FIG. 3) of the fixing member 70. It is provided integrally with the member 70.

As shown in FIG. 3, the slit plate 61 of the position detection mechanism 60 is formed in a thin flat plate shape and in an annular shape. The slit plate 61 is formed with a plurality of slit holes (not shown) at regular intervals in the circumferential direction of the slit plate 61. The slit plate 61 is fixed to the rotating shaft 12 of the motor 10 so that a part of the slit plate 61 in the circumferential direction is arranged between the light emitting element and the light receiving element of the sensor 62.

The case body 80 includes a case main body 81 having upper and lower ends open, and a cover 82 for closing the opening on the upper end side of the case main body 81. The opening on the lower end side of the case body 81 is closed by the speed reducer 20. An opening 81a that opens in a direction orthogonal to the vertical direction is formed on the side surface of the case body 81. That is, the case body 80 is formed with an opening 81a that opens in a direction orthogonal to the vertical direction. The opening 81a is formed so as to penetrate the side surface portion of the case body 81.

Further, a through hole 82a in which a pin 42 is arranged, which constitutes a drive mechanism 40 described later, is formed on the upper surface portion of the cover 82. That is, the case body 80 is formed with a through hole 82a. The through hole 82a is formed so as to penetrate the upper surface portion of the cover 82 in the vertical direction, and the inside and the outside of the case body 80 communicate with each other through the through hole 82a. Further, the through hole 82a is formed in a substantially round hole shape.

As shown in FIGS. 3 to 5, the rotation restricting mechanism 30 is provided to hold the stopped rotor 11 at the stopped position, and is housed in the case body 80. The rotation regulation mechanism 30 includes a flat plate-shaped and substantially annular rotation side regulation member 31 fixed to the rotor 11 and a regulation pin 33 as a regulation member, and engages the regulation pin 33 and the rotation side regulation member 31. It has a regulation unit 32 for restricting the movement of the rotation side restricting member 31 in the circumferential direction of the rotor 11 and a drive mechanism 40 for moving the regulation pin 33 in the vertical direction along the axial direction of the rotor 11. It is composed of.

As shown in FIG. 3, the drive mechanism 40 has a solenoid 41 that moves the regulation pin 33 downward via the plunger 41a, and a pin 42 that is attached to the upper end portion of the plunger 41a of the solenoid 41. .. The solenoid 41 is fixed to the case body 80 so that the plunger 41a of the solenoid 41 projects downward when the solenoid 41 is energized. The upper end of the plunger 41a projects upward from the main body 41b of the solenoid 41. A pin 42 is fixed to the upper end of the plunger 41a protruding upward from the main body 41b. The pin 42 has a cylindrical shaft portion 42a and an annular flange portion 42b extending radially outward from one end of the shaft portion 42a, and is formed in a cylindrical shape with a flange.

The pin 42 is fixed to the upper end portion of the plunger 41a so that the axial direction and the vertical direction of the pin 42 coincide with each other and the flange portion 42b is arranged on the lower side. Further, the pin 42 is arranged coaxially with the plunger 41a. The shaft portion 42a of the pin 42 is arranged in the through hole 82a of the case body 80. The outer diameter of the shaft portion 42a is set to be slightly smaller than the inner diameter of the through hole 82a.
A recess is formed on the lower surface of the flange portion 42b of the pin 42 for inserting and fixing the upper end portion of the plunger 41a.

The rotation side regulation member 31 is fixed to the upper end surface of the rotation shaft 12 of the motor 10 so that the thickness direction and the vertical direction of the rotation side regulation member 31 coincide with each other, and is arranged above the position detection mechanism 60. ing. As shown in FIG. 5, on the outer peripheral surface of the rotation side regulating member 31, a plurality of protrusions 31a protruding outward in the radial direction are formed at regular intervals along the circumferential direction. In this embodiment, the twelve protrusions 31a are formed at a pitch of 30 ° with respect to the center of the rotation side restricting member 31. Further, the protrusion 31a is formed so that the shape when viewed from the vertical direction is a substantially isosceles trapezoidal shape.
The number of protrusions 31a formed on the rotation-side restricting member 31 is not particularly limited, and may be 11 or less, or 13 or more.

As shown in FIGS. 3 to 5, when the regulation unit 32 is moved to the regulation position described later, the regulation pin 33 and the regulation pin 33 inserted between the plurality of protrusions 31a of the rotation side regulation member 31 A linear bush 34 that guides the rotor 11 in the vertical direction along the axial direction, a support member 35 that supports the regulation pin 33 so as to be movable in the vertical direction via the linear bush 34, and a regulation pin 33 are attached to the upper side. It is provided with a compression coil spring 36 as a urging member.

As shown in FIG. 4, the support member 35 is formed in a block shape, and a recess 35a recessed downward is formed in the central portion of the upper surface of the support member 35. Further, a recess 35b is formed on the bottom surface of the recess 35a so as to be recessed downward. The lower end side portion of the compression coil spring 36 of the regulation unit 32 is housed in the recess 35b. Further, the support member 35 is provided with an extending portion 35c extending inward in the radial direction at the upper end portion of the inner peripheral side surface (diametrically inner side surface) of the rotor 11. The other end of the compression coil spring 71b as a urging member of the support portion 71 of the fixing member 70, which will be described later, is fixed to the circumferential edge portion of the extending portion 35c.

The regulation pin 33 has a flange portion 33a at the upper end and is formed in a columnar shape with a flange. Further, the regulation pin 33 is arranged so that the axial direction and the vertical direction of the regulation pin 33 coincide with each other. The flange portion 33a is formed in an annular shape, and the outer shape of the flange portion 33a when viewed from the vertical direction is provided in a circular shape. Further, the regulation pin 33 is in contact with the plunger 41a of the drive mechanism 40 arranged above the regulation pin 33 in a non-fixed state. Therefore, the regulation pin 33 is provided so as to be relatively movable in a plane perpendicular to the axial direction while the movement in the axial direction is restricted by the plunger 41a. In other words, the drive mechanism 40 is in contact with the regulation pin 33 in a non-fixed state at the lower end of the plunger 41a of the drive mechanism 40, and restricts only the axial movement of the regulation pin 33.

Further, the regulation pin 33 is arranged on the outer peripheral side (diameter outside) of the rotation side regulation member 31 when viewed from the vertical direction. Specifically, when viewed from the vertical direction, as shown in FIGS. 4B and 5, the regulation pin 33 is more than the virtual circle connecting the tip surfaces of the plurality of protrusions 31a of the rotation side regulation member 31. The regulation pin 33 is arranged so that a part of the flange portion 33a of the rotor 11 is arranged inside the rotor 11 in the radial direction. Further, as shown in FIG. 4, a recess 33b recessed toward the upper side is formed in the lower end portion of the regulation pin 33, and the upper end side portion of the compression coil spring 36 is housed in the recess 33b.

As shown in FIGS. 3 and 4, the linear bush 34 has a flange portion 34a at its upper end and is formed in a cylindrical shape with a flange so that the axial direction and the vertical direction of the linear bush 34 coincide with each other. Is located in. The portion of the linear bush 34 below the flange portion 34a is housed in the recess 35a of the support member 35. A portion of the regulation pin 33 below the flange portion 33a is housed on the inner peripheral side of the linear bush 34. As a result, the regulation pin 33 is supported so as to be movable in the axial direction by the support member 35 via the linear bush 34.

The regulation unit 32 is arranged on the fixing member 70, and in FIG. 5, the direction along the line connecting the regulation pin 33 and the center of the rotation side regulation member 31 (the radial direction of the rotor 11 (first). It is provided so that it can slide in the direction)). Specifically, as shown in FIGS. 4 and 6, a linear rib portion 72e as a linear protrusion extending in the first direction is provided as a slide guide on the upper surface of the fixing member 70. On the other hand, on the lower surface of the support member 35 of the regulation unit 32, an engaging groove portion 35d is formed as an engaging portion that engages with the linear rib portion 72e. The engaging groove portion 35d of the support member 35 is formed corresponding to the shape of the linear rib portion 72e of the fixing member 70. That is, the width of the linear rib portion 72e in the direction orthogonal to the radial direction of the rotor 11 (the width in the left-right direction in FIG. 6) is set to be substantially the same as the width of the engaging groove portion 35d in the relevant direction. Therefore, the linear rib portion 72e and the engaging groove portion 35d engage with each other with a predetermined fitting gap. As a result, the regulation unit 32 is slidably guided along the linear rib portion 72e without rattling, and is in the direction along the line connecting the regulation pin 33 and the center of the rotation side regulation member 31 (diameter direction of the rotor 11). It is possible to move to.

The structure of the linear rib portion 72e and the engaging groove portion 35d is not limited as long as the regulation unit 32 is configured to be slidable along the radial direction of the rotor 11. For example, a linear groove portion may be provided on the upper surface of the fixing member 70 instead of the linear rib portion 72e. In this case, an engaging protrusion as an engaging portion corresponding to the linear groove portion is provided on the lower surface of the support member 35 of the regulating unit 32. In addition, as the engagement structure between the support member 35 and the fixing member 70, a dovetail groove structure or the like can be appropriately adopted, and in this case, the axial movement of the regulation unit 32 can also be regulated.

Further, as described above, two support portions 71 of the fixing member 70 are provided, and each support portion 71 includes a support main body 71a and a compression coil spring 71b as an urging member. That is, in this embodiment, the support portion 71 includes two support members. As shown in FIG. 5, one end of the compression coil spring 71b of the support portion 71 is fixed to the support main body 71a of the support portion 71, respectively. Then, as shown in FIGS. 4 and 5, the other end of the compression coil spring 71b is fixed to the circumferential edge of the extending portion 35c of the support member 35 of the regulation unit 32, respectively. Further, as shown in FIG. 5, the two compression coil springs 71b and 71b are regulated at the same angle θ with respect to the line connecting the center of the rotation side regulating member 31 and the regulating pin 33 when viewed in the vertical direction. Arranged to pull the unit 32. That is, the compression coil springs 71b are arranged so as to be line-symmetrical with respect to the line connecting the centers.

As another form, the other ends of the two compression coil springs 71b and 71b are integrally connected to each other, and the other ends are engaged with the radial outer side surface of the rotor 11 of the support member 35. May be placed in. In this case, since the two compression coil springs 71b and 71b press the support member 35 from the radial outside of the rotor 11 to urge the support member 35, it is not necessary to provide the support member 35 with an extension portion 35c, which simplifies the structure. It is possible. Further, in this embodiment, two compression coil springs 71b for pulling the regulation unit 32 are used, but the present invention is not limited to this, and one may be used as long as the regulation unit 32 can be urged toward the rotation side regulation member 31 side, or three. The above may be sufficient.

With such a configuration, the support portion 71 of the fixing member 70 has a direction in which the distance between the center of the rotation side regulating member 31 and the regulating pin 33 is variable in a plane perpendicular to the axial direction of the rotor 11, that is, the regulating pin 33. The regulating unit 32 is slidably supported in a direction along a line connecting the center of the rotating side regulating member 31 and the rotating side regulating member 31. Further, since the compression coil spring 71b is fixed to the support portion 71 of the fixing member 70 and the support member 35 of the regulation unit 32 at both ends thereof, the regulation unit 32 is pulled toward the center side of the rotation side regulation member 31. The regulation unit 32 is urged toward the rotation side regulation member 31 side.

Further, in the present embodiment, the solenoid 41 of the drive mechanism 40 is in a non-energized state when the motor 10 is stopped, and is in an energized state when the motor 10 is driven. As shown in FIGS. 4B and 5, when the solenoid 41 is not energized, the flange of the regulation pin 33 is between the protrusions 31a of the rotation side regulation member 31 due to the urging force of the compression coil spring 36 of the regulation unit 32. The regulation pin 33 is raised so that the portion 33a is arranged. Therefore, the rotation of the stopped rotor 11 is restricted by the engagement between the protrusion 31a of the rotation side regulating member 31 and the flange portion 33a of the regulating pin 33. Further, at this time, the regulation unit 32 is provided so as to be slidably movable on the line connecting the center of the rotation side regulation member 31 and the regulation pin 33, and the rotation side regulation member is provided by the two compression coil springs 71b and 71b of the support portion 71. It is urged toward the 31 side.

On the other hand, when the solenoid 41 is energized, as shown in FIG. 4A, the plunger 41a protrudes downward, and the flange portion 33a of the regulation pin 33 protrudes from between the protrusions 31a of the rotation side regulation member 31. The control pin 33 is lowered until it comes off. Therefore, the rotor 11 can rotate.

As described above, the drive mechanism 40 has a regulation position (position shown in FIG. 4B) in which the flange portion 33a of the regulation pin 33 is arranged between the protrusions 31a of the rotation side regulation member 31 and the rotation side regulation member. The regulation pin 33 is moved from between the protrusions 31a of 31 to the restriction release position (position shown in FIG. 4A) where the flange portion 33a of the regulation pin 33 comes off. Further, the compression coil spring 36 of the regulation unit 32 housed in the support member 35 urges the regulation pin 33 toward the regulation position. The solenoid 41 moves the regulation pin 33 at the regulation position toward the regulation release position.

The flange portion 33a of the regulation pin 33 of the present embodiment is a regulation portion that enters between the protrusions 31a of the rotation side regulation member 31 and restricts the movement of the rotation side regulation member 31 in the circumferential direction of the rotor 11. The regulation unit 32 is provided so as to be slidable in a direction along a line connecting the centers of the rotation side regulation member 31 and the regulation pin 33 in a state of being urged toward the rotation side regulation member 31. When the regulation pin 33 of the regulation unit 32 enters between the adjacent protrusions 31a of the rotation side regulation member 31 while the rotor 11 is rotating, the regulation pin 33 receives an excessive force from the rotation side regulation member 31. Be prevented.
When the regulation pin 33 is in the regulation release position, the plunger 41a of the drive mechanism 40 arranged on the outer peripheral side of the rotation side regulation member 31 is arranged at a position where it does not come into contact with the protrusion 31a of the rotation side regulation member 31. There is.

The circuit board B is a rigid board such as a glass epoxy board, and is formed in a flat plate shape. The circuit board B is fixed to the case body 80 so that the thickness direction and the vertical direction of the circuit board B coincide with each other. Further, the circuit board B is fixed to the upper end side of the case body 80, and is arranged above the rotation side restricting member 31. The upper end of the tubular member 17 is arranged above the upper surface of the circuit board B.

A motor drive circuit for driving the motor 10 and a signal transmission circuit for outputting a signal input to the circuit board B to the outside of the circuit board B are mounted on the circuit board B. Further, at least two connectors are mounted on the circuit board B. The wiring connected to one of the two connectors is routed so as to pass through the inner peripheral side of the tubular member 17, and then is drawn out from the through hole 18c of the output side member 18. The wiring connected to the other connector is drawn from the opening 81a of the case body 80.

(Joint structure, arm connection structure)
The connection structure of the joint portion 2 and the arm 3 of the robot 1 according to the present embodiment will be described again with reference to FIG.
As described above, the support member 4 and the first joint portion 2A are rotatably connected to each other, and the first joint portion 2A and the second joint portion 2B are rotatably connected to each other. Further, the second joint portion 2B and the base end of the first arm 3A are fixed, the tip of the first arm 3A and the third joint portion 2C are fixed, and the third joint portion 2C and the fourth joint portion 2D are fixed. They are connected so that they can rotate relative to each other. Further, the 4th joint 2D and the base end of the 2nd arm 3B are connected so as to be relatively rotatable, the tip of the 2nd arm 3B and the 5th joint 2E are fixed, and the 5th joint 2E and the 6th are fixed. The joint portion 2F is connected so as to be relatively rotatable. Specifically, for example, the joint portions 2 and the arms 3 are connected as follows so that the robot 1 can perform the operation shown in FIG. 2 (B).

In the following description, the axial direction of the rigid internal gear 21 of the first joint portion 2A is defined as the "axial direction of the first joint portion 2A", and the axial direction of the rigid internal gear 21 of the second joint portion 2B is defined as "axial direction". The axial direction of the second joint portion 2B ”. Further, the axial direction of the rigid internal gear 21 of the third joint 2C is defined as the "axial direction of the third joint 2C", and the axial direction of the rigid internal gear 21 of the fourth joint 2D is defined as the "fourth joint 2D". Axial direction of. Further, the axial direction of the rigid internal gear 21 of the 5th joint 2E is defined as the "axial direction of the 5th joint 2E", and the axial direction of the rigid internal gear 21 of the 6th joint 2F is "the 6th joint 2F". Axial direction of.

First, the support member 4 and the first joint portion 2A are connected by fixing the end surface of the support member 4 on the side where the flange portion 4a is not formed to the flange portion 18a of the first joint portion 2A. There is. That is, the support member 4 and the first joint portion 2A are connected so that the axial direction of the first joint portion 2A and the axial direction of the support member 4 coincide with each other. The first joint portion 2A and the second joint portion 2B are connected so that the axial direction of the first joint portion 2A and the axial direction of the second joint portion 2B are orthogonal to each other. Further, the side surface of the case body 81 of the first joint portion 2A where the opening 81a is formed is fixed to the flange portion 18a of the second joint portion 2B.

The second joint portion 2B and the first arm 3A are connected so that the axial direction of the second joint portion 2B and the longitudinal direction (axial direction) of the first arm 3A are orthogonal to each other. Further, the base end of the first arm 3A is fixed to the side surface of the case body 81 of the second joint portion 2B where the opening 81a is formed. The first arm 3A and the third joint portion 2C are connected so that the longitudinal direction of the first arm 3A and the axial direction of the third joint portion 2C are orthogonal to each other. Further, the tip of the first arm 3A is fixed to the side surface of the case body 81 of the third joint portion 2C where the opening 81a is formed.

The third joint portion 2C and the fourth joint portion 2D are connected so that the axial direction of the third joint portion 2C and the axial direction of the fourth joint portion 2D are orthogonal to each other. Further, the side surface of the case body 81 of the fourth joint portion 2D on which the opening portion 81a is formed is fixed to the flange portion 18a of the third joint portion 2C. More specifically, the fourth joint portion is attached to the flange portion 18a of the third joint portion 2C via the connecting member 5 fixed to the side surface where the opening 81a of the case body 81 of the fourth joint portion 2D is formed. The side surface of the 2D case body 81 on which the opening 81a is formed is fixed. The connecting member 5 includes a flange portion 5a fixed to the flange portion 18a of the third joint portion 2C, and is formed in a cylindrical shape with a flange.

The fourth joint portion 2D and the second arm 3B are connected so that the axial direction of the fourth joint portion 2D and the longitudinal direction of the second arm 3B coincide with each other. Further, the base end of the second arm 3B is fixed to the flange portion 18a of the fourth joint portion 2D.
At the base end of the second arm 3B, a flange portion 3a for fixing the base end of the second arm 3B is formed on the flange portion 18a of the fourth joint portion 2D, and the flange of the fourth joint portion 2D is formed. The portion 18a and the flange portion 3a are fixed to each other.

The second arm 3B and the fifth joint portion 2E are connected so that the longitudinal direction of the second arm 3B and the axial direction of the fifth joint portion 2E are orthogonal to each other. Further, the tip of the second arm 3B is fixed to the side surface of the case body 81 of the fifth joint portion 2E where the opening 81a is formed. The fifth joint portion 2E and the sixth joint portion 2F are connected so that the axial direction of the fifth joint portion 2E and the axial direction of the sixth joint portion 2F are orthogonal to each other. Further, the side surface of the case body 81 of the sixth joint portion 2F on which the opening portion 81a is formed is fixed to the flange portion 18a of the fifth joint portion 2E.

(Main effect of this form)
As described above, in the present embodiment, the joint portion (rotational actuator) 2 includes a motor 10 having a rotor 11 and a stator 14, and a rotation regulation mechanism 30 for restricting the rotation of the stopped rotor 11. The rotation regulation mechanism 30 is inserted between the annular rotation side regulation member 31 fixed to the rotor 11 and a plurality of protrusions 31a formed along the circumferential direction on the outer peripheral surface of the rotation side regulation member 31. It has a regulation unit 32 including a regulation pin (regulation member) 33 for restricting the movement of the rotation side regulation member 31 in the circumferential direction, and a drive mechanism 40 for moving the regulation pin 33 in the axial direction of the rotor 11. A support portion 71 is provided to movably support the regulation unit 32 in a direction in which the distance between the center of the rotation side regulation member 31 and the regulation pin 33 is variable in a plane perpendicular to the axial direction of the rotor 11.

That is, in the present embodiment, the joint portion (rotating actuator) 2 has the regulating unit 32 in a direction in which the distance between the center of the rotating side regulating member 31 and the regulating pin 33 is variable in the plane perpendicular to the axial direction of the rotor 11. A support portion 71 that supports the slide so as to be movable is included. Therefore, since the regulation pin 33 of the regulation unit 32 can move in the direction away from the center of the rotation side regulation member 31, the regulation pin 33 of the regulation unit 32 is adjacent to the rotation side regulation member 31 while the rotor 11 is rotating. When it enters between the protrusions 31a, a part of the force received by the regulation pin 33 of the regulation unit 32 from the protrusions 31a can be released to alleviate the impact force. Therefore, it is possible to suppress the occurrence of damage or deformation of the regulation unit 32 and improve the durability of the rotation regulation mechanism 30.

Further, in the present embodiment, the regulation unit 32 can move in the direction along the line connecting the regulation pin (regulation member) 33 and the center of the rotation side regulation member 31. Therefore, since the regulation unit 32 can slide and move in the direction perpendicular to the tangent line of the virtual circle along the circumferential direction of the rotation side regulation member 31, the force that the regulation pin 33 receives from the protrusion 31a of the rotation side regulation member 31. It is possible to efficiently escape a part of.

Further, in the present embodiment, the regulation unit 32 is arranged in the linear rib portion (linear protrusion) 72e formed on the fixing member 70, and further, the engaging groove portion (engagement) that engages with the linear rib portion 72e. Part) 35d. In the regulation unit 32, the linear rib portion 72e and the engaging groove portion 35d are engaged with each other, and are slidably guided along the linear rib portion 72a to move in the radial direction of the rotor 11 of the linear rib portion 72e. The width in the direction orthogonal to the radial direction of the rotor 11 is substantially the same as the width in the relevant direction of the engaging groove portion 35d. Therefore, the position of the restricting unit 32 in the direction orthogonal to the moving direction is restricted by the linear rib portion 72e, and the linear rib portion 72e and the engaging groove portion 35d of the restricting unit 32 are fitted in an engaged state. Since the gap is provided to be small, it is possible to suppress the occurrence of backlash and accurately position the regulation pin 33. The two widths are substantially the same, ideally when the two widths are exactly the same, but the difference between the two widths may include design-tolerant tolerances. ..

Further, in the present embodiment, the support portion 71 includes a compression coil spring (urging member) 71b that urges the regulation unit 32 toward the rotation side regulation member 31 side. Therefore, since the regulation unit 32 is urged toward the rotation side regulation member 31 by the compression coil spring 71b, even if the regulation unit 32 moves in a direction away from the rotation side regulation member 31, the urging force causes the rotation side. It is returned to the regulation member 31 side, and the regulation by the regulation pin 33 can be surely performed.

Further, in the present embodiment, the support portion 71 includes two compression coil springs (urgency members) 71b and 71b, and the two compression coil springs 71b and 71b pull the regulation unit 32 toward the rotation side regulation member 31 side. The regulation unit 32 is urged toward the rotation side regulation member 31 side. Therefore, since the two compression coil springs 71b and 71b can be arranged on the rotary shaft 12 side of the rotor 11 with respect to the regulation unit 32, it is possible to avoid an increase in the size of the rotary actuator.

Further, in the present embodiment, each of the two compression coil springs (urgency members) 71b and 71b pulls the regulation unit 32 at the same angle with respect to the first direction. Therefore, the regulation unit 32 can be urged toward the rotating shaft 12 of the rotor 11 without loss of the pulling force (urging force). Further, by arranging the two compression coil springs 71b and 71b at the same angle θ with respect to the first direction, it is possible to urge the rotor 11 in a well-balanced manner toward the rotation shaft 12 of the rotor 11. It can be pulled in a well-balanced manner along the linear rib portion 72e. By keeping the spring constants of the two compression coil springs 71b and 71b the same, the above-mentioned effect can be easily obtained.

Further, in the present embodiment, the regulation unit 32 includes a support member 35 that supports the regulation pin (regulation member) 33 so as to be movable in the axial direction, and the two compression coil springs (urgency members) 71b and 71b are the support member 35. It is fixed to. Since the compression coil springs 71b and 71b are fixed to the support member 35, the regulation unit 32 can be stably urged by urging the support member 35 with the compression coil spring 71b.

Further, in the present embodiment, the plunger 41a of the drive mechanism 40 is in contact with the regulation pin (regulatory member) 33 in a non-fixed state. Therefore, when the regulation unit 32 moves, the drive mechanism 40 does not need to move with the movement, so that the structure can be simplified and the manufacturing cost can be reduced.

(Other embodiments)
The above-described embodiment is an example of a preferred embodiment of the present invention, but the present invention is not limited thereto, and various modifications can be carried out without changing the gist of the present invention.

In the above-described embodiment, the two compression coil springs 71b and 71b are provided as the urging member of the support portion 71, and the two compression coil springs 71b and 71b pull the regulation unit 32 toward the rotation side regulation member 31 to hold the regulation unit 32. The force was urged toward the rotation side regulating member 31 side, but the present invention is not limited to this.

As a modification of the above-mentioned form, as shown in FIG. 7, the support portion 71 is arranged on the outer peripheral side of the regulation unit 32 (the radial outside of the rotor 11), and the support portion 71 is one compression member as an urging member. A coil spring 71b may be provided, and the compression coil spring 71b may be provided so as to press the regulation unit 32 from the radial outer side to the radial inner side of the rotor 11. In this case, since the regulation unit 32 is urged in the radial direction of the rotor 11 toward the rotation side regulation member 31 by one compression coil spring 71b, the structure can be simplified and the manufacturing cost can be reduced.

In the above-described embodiment, the regulation unit 32 is slidably provided in a direction along a line connecting the regulation pin 33 and the center of the rotation side regulation member 31, but the direction in which the regulation unit 32 can move is the rotation side regulation member. The distance between the center of 31 and the regulation pin 33 may be variable.

For example, the movable direction of the regulation unit 32 is a direction intersecting the direction along the line connecting the regulation pin 33 and the center of the rotation side regulation member 31 (however, the direction of the regulation pin 33 and the center of the rotation side regulation member 31). It does not include the direction orthogonal to the direction along the connecting line). In such a direction, when the regulation pin 33 of the regulation unit 32 enters between the adjacent protrusions 31a of the rotation side regulation member 31 during the rotation of the rotor 11, the regulation pin 33 is removed from the rotation side regulation member 31. Since it can move in the direction of separation, a part of the force received by the regulation pin 33 from the protrusion 31a can be released.

In the above-described embodiment, the compression coil spring 36 of the regulation unit 32 urges the regulation pin 33 upward, and the solenoid 41 moves the regulation pin 33 downward, but the present invention is not limited to this. For example, the compression coil spring 36 may urge the regulation pin 33 downward, and the solenoid 41 may move the regulation pin 33 upward. Further, in the above-described embodiment, the regulation pin 33 is urged by the compression coil spring 36 of the regulation unit 32, but the present invention is not limited to this. For example, the regulation pin 33 may be urged by another spring member such as a tension coil spring.

In the above-described embodiment, the pin 42 is fixed to the upper end of the plunger 41a of the drive mechanism 40, but the present invention is not limited to this. For example, the pin 42 may not be fixed to the upper end of the plunger 41a. In this case, the length of the upper end portion of the plunger 41a protruding upward from the main body portion 41b of the solenoid 41 is long, and the upper end portion of the plunger 41a is arranged in the through hole 82a of the case body 80. ing. Further, when the restricting pin 33 is in the restricted position, the upper end portion of the plunger 41a projects to the outside of the case body 80, and the upper end portion of the plunger 41a projecting to the outside of the case body 80 faces the inside of the case body 80. For example, when pressed with a finger or the like, the regulation pin 33 at the regulation position moves to the regulation release position.

In the above-described embodiment, the rigid internal gear 21 is the output shaft of the speed reducer 20, but the present invention is not limited to this. For example, the flexible external gear 22 may be the output shaft of the speed reducer 20. In this case, the rigid internal gear 21 is fixed to the inner ring 26a of the case body 80 and the cross roller bearing 26, and the flexible external gear 22 is fixed to the outer ring 26b of the cross roller bearing 26 and the flange portion 18a of the output side member 18. Will be done. Further, in the above-described embodiment, the speed reducer 20 is a hollow wave gear device, but the speed reducer 20 is not limited thereto. For example, the speed reducer 20 may be a hollow speed reducer other than the hollow wave gear device. Further, the speed reducer 20 may be a speed reducer other than the hollow speed reducer. Further, in the above-described embodiment, the motor 10 is a hollow motor, but the motor 10 is not limited to this. For example, the motor 10 may be a motor other than the hollow motor. Further, in the above-described embodiment, the motor 10 is a so-called inner rotor type motor, but the motor 10 is not limited to this. For example, the motor 10 may be an outer rotor type motor.

In the above-described embodiment, the robot 1 includes, but is not limited to, the six joints 2. For example, the number of joints 2 included in the robot 1 may be 5 or less, or 7 or more. Further, in the above-described embodiment, the robot 1 includes two arms 3, but the robot 1 is not limited to this. For example, the number of arms 3 included in the robot 1 may be one or three or more. Further, in the above-described embodiment, the joint portion 2 of the robot 1 is composed of a rotary actuator having a motor 10, a speed reducer 20, and the like, but the present invention is not limited to this. For example, the rotary actuator may be used in addition to the joint portion 2 of the robot 1. In addition, the rotary actuator may be used as a drive unit of a θ stage (rotary stage). Further, in the above-described embodiment, the robot 1 is an industrial robot, but the robot 1 can be applied to various uses. For example, the robot 1 may be a service robot.

1 Industrial robot 2 Joint part 10 Motor 11 Rotor 12 Rotation shaft 30 Rotation regulation mechanism 31 Rotation side regulation member 31a Protrusion 32 Regulation unit 33 Regulation pin (regulation member)
33a Flange part 35 Support member 35a Recessed part 35d Engagement groove part (engagement part)
36 Compression coil spring 40 Drive mechanism 41 Solenoid 41a Plunger 70 Fixing member 71 Support part 71a Support body 71b Compression coil spring (urgency member)
72e Linear rib part (linear protrusion)

Claims (8)

With a motor having a rotor and a stator,
It is equipped with a rotation regulation mechanism for restricting the rotation of the stopped rotor.
The rotation restricting mechanism is inserted between an annular rotation side restricting member fixed to the rotor and a plurality of protrusions formed along the circumferential direction on the outer peripheral surface of the rotation side restricting member. It has a regulation unit including a regulation member that regulates the movement of the rotation side regulation member in a direction, and a drive mechanism for moving the regulation member in the axial direction of the rotor.
A support portion for movably supporting the restricting unit in one direction in which the distance between the center of the rotating side restricting member and the restricting member is variable in a plane perpendicular to the axial direction is provided.
The support portion includes two urging members that urge the regulating unit toward the rotating side regulating member.
Each of the two urging members is arranged so as to sandwich a line connecting the regulating member and the center of the rotating side regulating member, and pulls the regulating unit toward the rotating side regulating member to pull the regulating unit toward the rotating side regulating member. Rotating side A rotating actuator that urges toward the regulating member side . The rotary actuator according to claim 1.
The one direction is a rotary actuator along a line connecting the regulating member and the center of the rotating side regulating member. The rotary actuator according to claim 1 or 2.
The regulation unit is arranged in a linear protrusion or a linear groove formed in a fixing member, and has an engaging portion that engages with the linear protrusion or the linear groove portion, and has the linear protrusion. The portion or the linear groove portion and the engaging portion engage with each other and are slidably guided along the linear protrusion portion or the linear groove portion to move in the one direction.
A rotary actuator in which the width of the linear protrusion or the linear groove in a direction orthogonal to the one direction is substantially the same as the width of the engaging portion in the direction. The rotary actuator according to any one of claims 1 to 3 .
Each of the two urging members is a rotary actuator arranged at the same angle with respect to the one direction. The rotary actuator according to any one of claims 1 to 4.
The regulation unit includes a support member that movably supports the regulation member in the axial direction.
The urging member is a rotary actuator fixed to the support member. The rotary actuator according to any one of claims 1 to 5.
The drive mechanism is a rotary actuator that is in contact with the restricting member in a non-fixed state. The rotary actuator according to any one of claims 1 to 6.
The two urging members are two compression coil springs, and the spring constants of the two compression coil springs are the same. A robot including a joint portion configured by the rotary actuator according to any one of claims 1 to 7.

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