CN111906813A - Rotary actuator and robot - Google Patents

Abstract

The present invention relates to a hollow rotary actuator and a robot, and for example, when used in a joint of an industrial robot, the rotary actuator includes: the drive device includes a hollow motor having a hollow rotating shaft, a hollow speed reducer having a hollow input shaft disposed coaxially with the rotating shaft and connected to the rotating shaft, a tubular member disposed on an inner peripheral side of the rotating shaft and the input shaft, and a holding member holding one end side of the tubular member, the holding member including a holding portion formed with a through hole communicating with an inner peripheral side of the tubular member. In the rotary actuator, one end side of the tubular member is held by the holding portion, and the other end side of the tubular member is movably attached to the output side portion of the hollow speed reducer. Therefore, damage to the wiring or piping passing through the inner peripheral side of the rotary actuator can be further suppressed.

Description

Rotary actuator and robot

The present application is a divisional application filed on 27/2/2017 and entitled "rotary actuator and robot" with application number 201780021382.8.

Technical Field

The present invention relates to a hollow rotary actuator including a hollow motor and a hollow speed reducer that are coaxially arranged. The present invention also relates to a robot including the rotary actuator.

Background

Conventionally, a hollow rotary actuator including a hollow motor and a hollow speed reducer is known (for example, see patent document 1). In the hollow rotary actuator described in patent document 1, the hollow speed reducer is a hollow wave gear device, and includes an annular device housing, a rigid internally toothed gear fixed to an inner peripheral portion of the device housing, a cup-shaped flexible externally toothed gear disposed inside the rigid internally toothed gear, and a wave generator disposed inside the flexible externally toothed gear. The flexible externally toothed gear is rotatably supported by the apparatus housing via a cross roller bearing (cross roller bearing). A part of the wave generator is fixed to an outer peripheral surface of a hollow motor shaft of the hollow motor.

In the hollow rotary actuator described in patent document 1, the hollow motor and the hollow reduction gear are disposed coaxially. A sleeve (sleeve) formed in a cylindrical shape is disposed on the inner peripheral side of the hollow motor and the hollow speed reducer. The sleeve is fixed to a boss (boss) constituting a part of the flexible externally toothed gear by laser welding. Therefore, when the flexible externally toothed gear rotates, the sleeve rotates together with the flexible externally toothed gear.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No. 2014-206265

Disclosure of Invention

Problems to be solved by the invention

The hollow rotary actuator described in patent document 1 is, for example, a joint portion used for an industrial robot. When the hollow rotary actuator described in patent document 1 is used in a joint portion of an industrial robot, various wires and pipes are generally wired so as to pass through the inner peripheral side of the sleeve. In the hollow rotary actuator described in patent document 1, since the sleeve is fixed to the flexible externally toothed gear and rotates when the flexible externally toothed gear rotates, when the hollow rotary actuator is used in a joint portion of an industrial robot, an inner peripheral surface of the rotatable sleeve may contact with a wire or a pipe, and the wire or the pipe may be damaged.

Accordingly, an object of the present invention is to provide a hollow rotary actuator which can suppress damage to wiring or piping passing through the inner peripheral side of the rotary actuator more than before when used in, for example, a joint of a robot. Another object of the present invention is to provide a robot including the rotary actuator.

Means for solving the problems

In order to solve the above problem, a rotary actuator according to the present invention includes: a hollow motor having a hollow rotating shaft; a hollow speed reducer having a hollow input shaft disposed coaxially with the rotating shaft and connected to the rotating shaft; a tubular member disposed on the inner peripheral sides of the rotating shaft and the input shaft; and a holding member that holds one end side of the tubular member; the holding member includes a holding portion in which a through hole communicating with the inner peripheral side of the tubular member is formed, one end side of the tubular member is held by the holding portion, and the other end side of the tubular member is movably attached to the output side portion of the hollow speed reducer.

In the rotary actuator of the present invention, one end side of a tubular member disposed on the inner peripheral side of the rotary shaft of the hollow motor and the input shaft of the hollow speed reducer is rotatably held by the holding portion of the holding member, and the other end side of the tubular member is movably attached to the output side portion of the hollow speed reducer. That is, the other end side of the tubular member is held in a state of not being fixed to the output side portion of the hollow speed reducer. Therefore, in the present invention, even if the output shaft of the hollow speed reducer rotates, the tubular member does not necessarily rotate. Therefore, in the present invention, for example, when the rotary actuator is used in a joint portion of a robot, even if wiring or piping is routed so as to pass through the inner periphery side of the tubular member, damage to the wiring or piping passing through the inner periphery side of the rotary actuator can be further suppressed than before. In addition, in the present invention, the other end side of the tubular member is not fixed to the output side portion of the hollow speed reducer, and therefore, the assembly work of the rotary actuator becomes easier as compared with a case where the other end side of the tubular member is fixed to the output side portion of the hollow speed reducer by welding, bonding, or the like, for example.

In the present invention, the rotary actuator further includes, for example, a fixed member fixed to the output shaft of the hollow speed reducer, the fixed member includes an inserted portion inserted to an inner peripheral side of the other end side portion of the tubular member, and an inner peripheral surface of the tubular member is in contact with an outer peripheral surface of the inserted portion. That is, the other end side of the tubular member is held at the output side portion of the hollow speed reducer by the inner peripheral surface of the tubular member contacting the outer peripheral surface of the inserted portion. In this case, the other end side of the tubular member can be held at the output side portion of the hollow speed reducer with a relatively simple structure.

In the present invention, the inserted portion is preferably arranged on the inner peripheral side of the input shaft. With this configuration, the rotary actuator can be made smaller in the axial direction of the input shaft than in the case where the input shaft and the inserted portion are arranged in a deviated state in the axial direction of the input shaft.

In the present invention, the rotary actuator may further include a fixed member fixed to the output shaft of the hollow speed reducer, the fixed member may include an insertion portion into which the other end portion of the tubular member is inserted, and an outer peripheral surface of the tubular member may contact an inner peripheral surface of the insertion portion. That is, the other end side of the tubular member can be held at the output side portion of the hollow speed reducer by the outer peripheral surface of the tubular member being in contact with the inner peripheral surface of the insertion portion. In this case, the other end side of the tubular member can be held by the output side portion of the hollow speed reducer with a relatively simple configuration.

In the present invention, the tubular member is preferably formed of a resin, or coated with a resin on the inner circumferential surface thereof. With this configuration, for example, when the rotary actuator is used in a joint portion of a robot and wiring is routed so as to pass through the inner periphery side of the tubular member, even if the inner peripheral surface of the tubular member and the wiring slide and the covering of the wiring disposed on the inner periphery side of the tubular member is accidentally damaged, a short circuit between the tubular member and the wiring can be prevented.

The rotary actuator of the present invention can also be used for a robot including a joint portion formed by the rotary actuator and a wire routed so as to pass through the inner peripheral side of the tubular member. In this robot, damage to the wiring passing through the inner peripheral side of the rotary actuator can be further suppressed than before.

ADVANTAGEOUS EFFECTS OF INVENTION

As described above, in the present invention, in the case where the hollow rotary actuator is used for, for example, a joint portion of a robot, damage to wiring or piping passing through the inner peripheral side of the rotary actuator can be suppressed more than before. In addition, in the robot of the present invention, damage to the wiring passing through the inner peripheral side of the rotary actuator can be further suppressed than before.

Drawings

Fig. 1 is a front view of an industrial robot according to an embodiment of the present invention.

Fig. 2(a) is a perspective view of the industrial robot shown in fig. 1.

Fig. 2(B) is a perspective view showing a state in which the industrial robot shown in fig. 2(a) is operating.

Fig. 3 is a longitudinal sectional view of the joint section shown in fig. 1.

Description of the symbols

1: robot (Industrial robot)

2: joint part (rotating actuator)

2A: first joint part

2B: second joint part

2C: third joint part

2D: the fourth joint part

2E: fifth joint part

2F: the sixth joint part

3: arm(s)

3A: first arm

3B: second arm

3a, 4a, 17a, 27a, 63 a: flange part

4: supporting member

7: motor (hollow motor)

8: speed reducer (hollow speed reducer)

10: circuit board

11: shell body

13: rotating shaft

13 a: magnet fixing part

14: rotor

15: stator

16: rigid internal gear (output shaft of hollow speed reducer, part of output side part of hollow speed reducer)

17: flexible external gear

18: wave generating part

19: crossed roller bearing

19 a: inner wheel

19 b: outer wheel

20: input shaft

20 a: oval part

21: corrugated bearing

26: tubular member

27: output side member (fixed member, part of output side of hollow speed reducer)

27 b: barrel part

27c, 32 b: through hole

27 d: small diameter part (inserted part)

27e, 32 d: surface of step difference

29: magnet for driving

30. 34: bearing assembly

31: bearing holding member

32: holding member

32 a: holding part

32c, the ratio of: large diameter part

33: support post

41: shell body

41 a: opening part

42: cover

60. 61: wiring harness

63: connecting member

Detailed Description

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

(schematic construction of Industrial robot)

Fig. 1 is a front view of an industrial robot 1 according to an embodiment of the present invention. Fig. 2(a) is a perspective view of the industrial robot 1 shown in fig. 1, and fig. 2(B) is a perspective view showing a state in which the industrial robot 1 shown in fig. 2(a) is operating.

The industrial robot 1 (hereinafter referred to as "robot 1") according to the present embodiment is an articulated robot for assembling or manufacturing a predetermined product or the like, and is used by being installed in an assembly line or a manufacturing line. The robot 1 includes a plurality of joints 2 and a plurality of arms 3. In the present embodiment, the robot 1 includes six joint portions 2 and two arms 3. Hereinafter, when the six joint units 2 are separately shown, the six joint units 2 are referred to as a "first joint unit 2A", a "second joint unit 2B", a "third joint unit 2C", a "fourth joint unit 2D", a "fifth joint unit 2E", and a "sixth joint unit 2F", respectively. In the following, when the two arms 3 are shown separately, the two arms 3 are referred to as "first arm 3A" and "second arm 3B", respectively.

The robot 1 further includes a support member 4 relatively rotatably coupled to the first joint portion 2A. The support member 4 is formed in a cylindrical shape with a hat rim having a flange portion 4a, and a through hole (not shown) penetrating in the axial direction of the support member 4 is formed on the inner circumferential side of the support member 4. The flange portion 4a is formed in an annular shape and constitutes a bottom surface portion of the robot 1. The arm 3 is formed in an elongated cylindrical shape.

In the robot 1, the first joint 2A and the second joint 2B are relatively rotatably coupled, and the second joint 2B and the base end of the first arm 3A are fixed. The tip of the first arm 3A is fixed to the third joint 2C, the third joint 2C is relatively rotatably coupled to the fourth joint 2D, the fourth joint 2D is relatively rotatably coupled to the base end of the second arm 3B, the tip of the second arm 3B is fixed to the fifth joint 2E, and the fifth joint 2E is relatively rotatably coupled to the sixth joint 2F. Further, a hand, a tool, or the like is relatively rotatably attached to the sixth joint portion 2F.

Hereinafter, a specific structure of the joint 2 will be described. In the present embodiment, as shown in fig. 1, 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, the fifth joint portion 2E, and the sixth joint portion 2F are formed to have the same size. The sizes of the first joint 2A, the second joint 2B, and the third joint 2C are larger than the sizes of the fourth joint 2D, the fifth joint 2E, and the sixth joint 2F. However, the first joint 2A, the second joint 2B, and the third joint 2C are configured similarly to the fourth joint 2D, the fifth joint 2E, and the sixth joint 2F, except for the difference in size.

(Structure of Joint portion)

Fig. 3 is a longitudinal sectional view of the joint 2 shown in fig. 1. Hereinafter, for convenience of explanation, the Z1 direction side in fig. 3 is referred to as "upper" side, and the opposite side, i.e., the Z2 direction side, is referred to as "lower" side.

The joint 2 includes: a motor 7; a speed reducer 8 connected to the motor 7; a circuit board 10 electrically connected to the motor 7; and a housing 11 that houses the motor 7, the speed reducer 8, and the circuit board 10, and the joint 2 itself serves as a rotary actuator. That is, the joint 2 is constituted by a rotary actuator.

The motor 7 is a hollow motor having a through hole formed at the center in the radial direction, and includes a hollow rotating shaft 13. The motor 7 includes a rotor 14 and a stator 15. The reduction gear 8 is a hollow reduction gear having a through hole formed at the center in the radial direction. The motor 7 and the reduction gear 8 are disposed so as to overlap in the vertical direction. Specifically, the motor 7 is disposed on the upper side, and the reduction gear 8 is disposed on the lower side. The motor 7 and the reducer 8 are disposed coaxially.

The speed reducer 8 of the present embodiment is a hollow wave gear device, and includes a rigid internally toothed gear 16, a flexible externally toothed gear 17, a wave generating portion 18, and a cross roller bearing 19. The wave generating portion 18 includes a hollow input shaft 20 connected to the rotating shaft 13, and a wave bearing (wave bearing)21 attached to an outer peripheral side of the input shaft 20. In the present embodiment, the rigid internally-toothed gear 16 serves as an output shaft of the reduction gear 8. The joint 2 includes a tubular member 26 having a cylindrical shape (more specifically, a cylindrical shape) disposed on the inner peripheral side of the rotating shaft 13 and the input shaft 20, and an output side member 27 fixed to the rigid internally toothed gear 16.

As described above, the motor 7 includes the rotor 14 and the stator 15. The rotor 14 includes a rotating shaft 13 and a driving magnet 29 fixed to the rotating shaft 13. The rotating shaft 13 is formed in a substantially cylindrical shape elongated in the vertical direction, and is disposed so that the axial direction of the rotating shaft 13 coincides with the vertical direction. That is, the vertical direction is the axial direction of the rotating shaft 13 and the axial direction of the rotor 14. The rotating shaft 13 functions as a back yoke (back yoke) and is formed of a soft magnetic material. The shaft 13 of the present embodiment is made of an iron-based metal such as a steel material.

The driving magnet 29 is formed in a cylindrical shape. The length (length in the vertical direction) of the driving magnet 29 is shorter than the shaft 13, and the driving magnet 29 is fixed to the outer peripheral surface of the lower end side portion of the shaft 13. In the present embodiment, the drive magnet 29 is fixed to the outer peripheral surface of the rotating shaft 13 so that the lower end surface of the rotating shaft 13 and the lower end surface of the drive magnet 29 coincide with each other.

The stator 15 is formed in a substantially cylindrical shape as a whole, and is disposed on the outer peripheral side of the driving magnet 29 so as to cover the outer peripheral surface of the driving magnet 29. The upper end side portion of the rotating shaft 13 protrudes upward beyond the upper end surface of the stator 15. The stator 15 includes a driving coil and a stator core having a plurality of salient poles around which the driving coil is wound via an insulator (insulator). The salient poles of the stator core are formed so as to protrude toward the inner peripheral side, and the distal end surfaces of the salient poles face the outer peripheral surface of the driving magnet 29. The stator 15 is fixed to the housing 11.

As described above, the speed reducer 8 includes the rigid internally toothed gear 16, the flexible externally toothed gear 17, the wave generating portion 18, and the cross roller bearing 19. The rigid internally-toothed gear 16 is formed in a flat substantially cylindrical shape, and is disposed so that the axial direction of the rigid internally-toothed gear 16 coincides with the vertical direction. That is, the vertical direction is the axial direction of the rigid internally-toothed gear 16 as the output shaft of the speed reducer 8. The rigid internally toothed gear 16 is fixed to an inner wheel 19a of the cross roller bearing 19. The outer ring 19b of the cross roller bearing 19 is fixed to the lower end side portion of the housing 11, and the rigid internally toothed gear 16 is rotatably held to the lower end side portion of the housing 11 via the cross roller bearing 19.

The flexible externally toothed gear 17 is formed in a substantially cylindrical shape with a hat rim having a flange portion 17a at the upper end. The flange 17a is formed in a substantially annular shape, and an outer peripheral portion of the flange 17a is fixed to the housing 11. The rigid internally-toothed gear 16 constitutes a lower end side portion of the speed reducer 8. The flange 17a constitutes an upper end portion of the reduction gear 8. Internal teeth are formed on the inner peripheral surface of the rigid internally-toothed gear 16. External teeth that mesh with internal teeth of the rigid internally toothed gear 16 are formed on the outer peripheral surface of the flexible externally toothed gear 17 on the lower end side.

As described above, the ripple generating unit 18 includes the input shaft 20 and the ripple bearing 21. The input shaft 20 is formed in a vertically elongated tubular shape as a whole, and is disposed so that the axial direction of the input shaft 20 coincides with the vertical direction. The input shaft 20 is formed of a material having a smaller specific gravity than the soft magnetic material forming the rotation shaft 13. Also, the input shaft 20 is formed of a non-magnetic material. Specifically, the input shaft 20 is formed of an aluminum alloy. The portion other than the lower end side portion of the input shaft 20 is formed in an elongated substantially cylindrical shape. The lower end side portion of the input shaft 20 is an elliptical portion 20a, the inner peripheral surface when viewed in the axial direction of the input shaft 20 is circular, and the outer peripheral surface when viewed in the axial direction of the input shaft 20 is elliptical. The input shaft 20 may be formed of a material other than an aluminum alloy as long as it is formed of a material having a lower specific gravity than the soft magnetic material forming the rotation shaft 13.

The rotating shaft 13 and the input shaft 20 are coaxially arranged, and the inner peripheral side of the input shaft 20 communicates with the inner peripheral side of the rotating shaft 13. The upper end side portion of the input shaft 20 is inserted into the inner peripheral side of the lower end side portion of the rotating shaft 13 and fixed. Specifically, the upper end portion of the input shaft 20 is inserted into and fixed to the inner peripheral side of the portion of the rotating shaft 13 to which the drive magnet 29 is fixed. That is, the rotating shaft 13 includes a cylindrical (more specifically, cylindrical) magnet fixing portion 13a to which the driving magnet 29 is fixed on the outer circumferential side on the lower end side of the rotating shaft 13, and the upper end side of the input shaft 20 is inserted into and fixed to the inner circumferential side of the magnet fixing portion 13 a. The upper end portion of the input shaft 20 is fixed to the rotating shaft 13 by bonding. In the present embodiment, the upper end surface of the driving magnet 29 and the upper end surface of the input shaft 20 are disposed at the same position in the vertical direction.

The center portion of the input shaft 20 in the up-down direction is rotatably supported by the bearing 30. The bearing 30 is a ball bearing. The bearing 30 is attached to a bearing holding member 31, and the bearing holding member 31 is fixed to the housing 11. That is, the input shaft 20 is rotatably supported by a bearing 30 attached to the housing 11 via a bearing holding member 31. The bearing holding member 31 is formed in an annular flat plate shape, and is fixed to the housing 11 so as to overlap the flange portion 17a of the flexible externally toothed gear 17 in the vertical direction.

The corrugated bearing 21 is a ball bearing including a flexible inner ring and an outer ring. The corrugated bearing 21 is disposed along the outer peripheral surface of the elliptical portion 20a and is curved into an elliptical shape. The lower end side portion of the flexible externally toothed gear 17 on which the external teeth are formed is disposed on the outer peripheral side of the corrugated bearing 21 so as to surround the corrugated bearing 21, and this portion is bent into an elliptical shape. The external teeth of the flexible externally toothed gear 17 are engaged with the internal teeth of the rigid internally toothed gear 16 at two positions in the longitudinal direction of the lower end side portion of the flexible externally toothed gear 17 that is bent into an ellipsoidal shape.

The output side member 27 is formed in a substantially cylindrical shape with a hat rim having a flange portion 27a and a cylindrical portion 27 b. The output side member 27 is disposed so that the axial direction of the output side member 27 coincides with the vertical direction, and a through hole 27c penetrating in the vertical direction is formed on the inner peripheral side of the output side member 27. The flange portion 27a is formed in a flat plate shape and an annular shape, and is connected to the lower end of the cylindrical portion 27 b. The flange portion 27a is fixed to the rigid internally toothed gear 16 such that an upper surface of the flange portion 27a contacts a lower surface of the rigid internally toothed gear 16. The flange 27a is disposed below the lower end of the housing 11 and outside the housing 11.

A small diameter portion 27d having an outer diameter smaller than that of the lower end portion of the tube portion 27b is formed on the upper end side of the tube portion 27b, and an annular step surface 27e orthogonal to the vertical direction is formed on the outer peripheral side of the upper end portion of the tube portion 27 b. The small diameter portion 27d is inserted into the inner peripheral side of the lower end side portion of the tubular member 26, and the lower end surface of the tubular member 26 faces the stepped surface 27 e. The through hole 27c communicates with the inner peripheral side of the tubular member 26.

In the present embodiment, the inner peripheral surface of the tubular member 26 is in contact with the outer peripheral surface of the small diameter portion 27 d. The lower end side of the tubular member 26 is held by the output side member 27 by the inner peripheral surface of the tubular member 26 contacting the outer peripheral surface of the small diameter portion 27 d. That is, the inner peripheral surface of the tubular member 26 contacts the outer peripheral surface of the small diameter portion 27d, whereby the lower end side of the tubular member 26 is held at the output side portion of the speed reducer 8, which is constituted by the rigid internally toothed gear 16 as the output shaft of the speed reducer 8 and the output side member 27, and the lower end side of the tubular member 26 is movably attached to the output side portion of the speed reducer 8. The output side member 27 of the present embodiment is a fixed member fixed to the rigid internally-toothed gear 16 as the output shaft of the speed reducer 8, and the small diameter portion 27d is an inserted portion inserted to the inner circumferential side of the other end side portion of the tubular member 26. The movably attached state means that the lower end side of the tubular member 26 is not fixed to the output side portion of the speed reducer 8.

The upper end portion of the tube portion 27b is disposed on the inner periphery side of the lower end portion of the input shaft 20. That is, the small diameter portion 27d is disposed on the inner periphery side of the lower end side portion of the input shaft 20. A bearing 34 is disposed between the outer peripheral surface of the tube portion 27b and the inner peripheral surface of the lower end portion of the input shaft 20. The bearing 34 is a ball bearing.

The tubular member 26 is formed of an aluminum alloy. The tubular member 26 is formed in a cylindrical shape elongated in the vertical direction, and is disposed so that the axial direction of the tubular member 26 coincides with the vertical direction. That is, the up-down direction is the axial direction of the tubular member 26. The tubular member 26 may be formed of a metal other than aluminum alloy.

As described above, the tubular member 26 is inserted to the inner peripheral side of the rotating shaft 13 and the input shaft 20. The upper end surface of the tubular member 26 is disposed above the upper end surface of the rotating shaft 13, and the lower end surface of the tubular member 26 is disposed above the lower end surface of the input shaft 20. As described above, the small diameter portion 27d of the output side member 27 is inserted into the inner peripheral side of the lower end side portion of the tubular member 26, the lower end surface of the tubular member 26 faces the stepped surface 27e, and the lower end side of the tubular member 26 is held by the output side member 27. Specifically, the lower end side of the tubular member 26 is held by the output side member 27 in such a manner that the tubular member 26 can rotate relative to the output side member 27 in the vertical direction as the rotational axial direction.

The upper end side of the tubular member 26 is held by the holding member 32. The holding member 32 is fixed to the support column 33, and the support column 33 is fixed to the housing 11. That is, the holding member 32 is fixed to the housing 11 via the support column 33. The holding member 32 includes a cylindrical holding portion 32a that holds the upper end side of the tubular member 26. The holding portion 32a is disposed so that the axial direction of the holding portion 32a coincides with the vertical direction, and a through hole 32b penetrating in the vertical direction is formed on the inner circumferential side of the holding portion 32 a. The support column 33 may be fixed to the circuit board 10.

A large diameter portion 32c having an inner diameter larger than that of the upper end side of the holding portion 32a is formed on the lower end side of the holding portion 32a, and an annular step surface 32d perpendicular to the vertical direction is formed on the inner circumference side of the lower end side portion of the holding portion 32 a. The upper end side of the tubular member 26 is inserted to the inner peripheral side of the large diameter portion 32c, and the upper end surface of the tubular member 26 faces the stepped surface 32 d. The upper end side of the tubular member 26 is held by the holding portion 32a so that the tubular member 26 can rotate in the vertical direction as the rotational axial direction. The through hole 32b of the holding portion 32a communicates with the inner peripheral side of the tubular member 26. That is, the holding member 32 has a through hole 32b communicating with the inner peripheral side of the tubular member 26.

The housing 11 is composed of a housing body 41 having both upper and lower ends open, and a cover 42 for closing the upper end opening of the housing body 41. The opening of the lower end side of the case body 41 is closed by the speed reducer 8. An opening 41a that opens in a direction orthogonal to the vertical direction is formed in a side surface of the case body 41. That is, the housing 11 is formed with an opening 41a that opens in a direction orthogonal to the vertical direction. The opening 41a is formed to penetrate through a side surface portion of the case body 41.

The circuit board 10 is a hard substrate such as a glass epoxy substrate, and is formed in a flat plate shape. The circuit board 10 is fixed to the housing 11 such that the thickness direction of the circuit board 10 coincides with the vertical direction. The circuit board 10 is fixed to the upper end side of the case 11. The upper end of the tubular member 26 is disposed above the upper surface of the circuit board 10. A motor drive circuit for driving the motor 7 and the like are mounted on the circuit board 10.

At least two connectors (not shown) are mounted on the circuit board 10. The wire 60 connected to one of the two connectors is routed so as to pass through the inner peripheral side of the tubular member 26, and then extends out of the through hole 27c of the output side member 27. That is, the wiring 60 is routed so as to pass through the inner peripheral sides of the rotating shaft 13 and the input shaft 20, and then extends out of the through hole 27c of the output side member 27. Further, the wire 61 connected to the other of the two connectors protrudes from the opening 41a of the housing 11.

(Joint part, arm connecting structure)

As a coupling structure of the joint 2 and the arm 3 of the robot 1, for example, the joint 2 and the arm 3 are coupled 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 internally toothed gear 16 of the first joint portion 2A is referred to as the "axial direction of the first joint portion 2A", the axial direction of the rigid internally toothed gear 16 of the second joint portion 2B is referred to as the "axial direction of the second joint portion 2B", the axial direction of the rigid internally toothed gear 16 of the third joint portion 2C is referred to as the "axial direction of the third joint portion 2C", the axial direction of the rigid internally toothed gear 16 of the fourth joint portion 2D is referred to as the "axial direction of the fourth joint portion 2D", the axial direction of the rigid internally toothed gear 16 of the fifth joint portion 2E is referred to as the "axial direction of the fifth joint portion 2E", and the axial direction of the rigid internally toothed gear 16 of the sixth joint portion 2F is referred to as the "axial direction of the sixth joint portion 2F".

First, the support member 4 and the first joint 2A are coupled to each other 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 27a of the first joint 2A. That is, the support member 4 and the first joint unit 2A are coupled so that the axial direction of the first joint unit 2A and the axial direction of the support member 4 coincide with each other. The first joint part 2A and the second joint part 2B are coupled so that the axial direction of the first joint part 2A and the axial direction of the second joint part 2B are orthogonal to each other. The side surface of the case body 41 of the first joint 2A on which the opening 41a is formed is fixed to the flange 27a of the second joint 2B.

The second joint 2B and the first arm 3A are coupled so that the axial direction of the second joint 2B is orthogonal to the longitudinal direction (axial direction) of the first arm 3A. The base end of the first arm 3A is fixed to the side surface of the case body 41 of the second joint 2B where the opening 41a is formed. The first arm 3A and the third joint 2C are connected so that the longitudinal direction of the first arm 3A is orthogonal to the axial direction of the third joint 2C. The tip of the first arm 3A is fixed to the side surface of the case body 41 of the third joint 2C where the opening 41a is formed.

The third joint 2C and the fourth joint 2D are coupled so that the axial direction of the third joint 2C and the axial direction of the fourth joint 2D are orthogonal to each other. The side surface of the case body 41 of the fourth joint 2D on which the opening 41a is formed is fixed to the flange 27a of the third joint 2C. More specifically, the side surface of the case body 41 of the fourth joint section 2D on which the opening 41a is formed is fixed to the flange portion 27a of the third joint section 2C via a coupling member 63 fixed to the side surface of the case body 41 of the fourth joint section 2D on which the opening 41a is formed. The coupling member 63 is formed in a cylindrical shape with a hat rim having a flange portion 63a fixed to the flange portion 27a of the third joint portion 2C.

The fourth joint 2D and the second arm 3B are coupled so that the axial direction of the fourth joint 2D coincides with the longitudinal direction of the second arm 3B. The base end of the second arm 3B is fixed to the flange portion 27a of the fourth joint 2D. Further, a flange portion 3a for fixing the base end of the second arm 3B to the flange portion 27a of the fourth joint portion 2D is formed at the base end of the second arm 3B, and the flange portion 27a and the flange portion 3a of the fourth joint portion 2D are fixed to each other.

The second arm 3B and the fifth joint 2E are coupled so that the longitudinal direction of the second arm 3B is orthogonal to the axial direction of the fifth joint 2E. The tip of the second arm 3B is fixed to the side surface of the case body 41 of the fifth joint 2E where the opening 41a is formed. The fifth joint 2E and the sixth joint 2F are coupled so that the axial direction of the fifth joint 2E and the axial direction of the sixth joint 2F are orthogonal to each other. The side surface of the case body 41 of the sixth joint 2F where the opening 41a is formed is fixed to the flange 27a of the fifth joint 2E.

(main effect of the present embodiment)

As described above, in the present embodiment, the upper end side of the tubular member 26 is held by the holding portion 32a so that the tubular member 26 can rotate in the vertical direction as the rotational axial direction. In the present embodiment, the lower end side of the tubular member 26 is movably attached to the output side member 27. Therefore, in the present embodiment, even if the output side member 27 fixed to the rigid internally toothed gear 16 rotates together with the rigid internally toothed gear 16, the tubular member 26 does not necessarily rotate. Therefore, in the present embodiment, damage to wiring 60 passing through the inner peripheral side of tubular member 26 can be further suppressed than before. In addition, in the present embodiment, the lower end side of the tubular member 26 is not fixed to the output side member 27, and therefore, the assembling operation of the joint section 2 is easier than in the case where the lower end side of the tubular member 26 is fixed to the output side member 27 by welding, bonding, or the like.

In the present embodiment, the lower end side of the tubular member 26 is held by the output side member 27 by the inner peripheral surface of the tubular member 26 contacting the outer peripheral surface of the small diameter portion 27d of the output side member 27. Therefore, in the present embodiment, the lower end side of the tubular member 26 can be held by the output side member 27 with a relatively simple structure. In addition, in the present embodiment, since the small diameter portion 27d is disposed on the inner peripheral side of the lower end side portion of the input shaft 20, the joint portion 2 can be downsized in the up-down direction as compared with a case where the small diameter portion 27d is disposed in a state of being offset from the input shaft 20 in the up-down direction.

(other embodiments)

The above embodiment is an example of a preferable embodiment of the present invention, and is not limited thereto, and various modifications can be made within a range not changing the gist of the present invention.

In the above embodiment, the tubular member 26 is formed of a metal such as an aluminum alloy, but the tubular member 26 may be formed of a resin. Further, the inner circumferential surface of the metal tubular member 26 may be coated with resin. At this time, even if the inner peripheral surface of tubular member 26 and wiring 60 slide, the coating of wiring 60 disposed on the inner peripheral side of tubular member 26 is accidentally damaged, and short circuit between tubular member 26 and wiring 60 can be prevented.

When the tubular member 26 is formed of a resin, the tubular member 26 is preferably formed of a resin having excellent slidability. For example, the tubular member 26 is preferably formed of polytetrafluoroethylene (polytetrafluoroethylene) or polyacetal (polyacetal). When the inner circumferential surface of the tubular member 26 is coated with a resin, it is preferable to coat the inner circumferential surface of the tubular member 26 with a resin having excellent slidability such as polytetrafluoroethylene. In these cases, even if the inner circumferential surface of tubular member 26 slides on wiring 60, the coating of wiring 60 is not easily damaged. In the case where the tubular member 26 is formed of resin, the tubular member 26 and the holding member 32 may be integrally formed.

In the above embodiment, the lower end side of the tubular member 26 is held by the output side member 27 by the inner peripheral surface of the tubular member 26 contacting the outer peripheral surface of the small diameter portion 27d of the output side member 27. Further, for example, the lower end side of the tubular member 26 may be held by the output side member 27 by forming an insertion portion into which the lower end side portion of the tubular member 26 is inserted on the upper end side of the cylindrical portion 27b of the output side member 27, and bringing the inner peripheral surface of this insertion portion into contact with the outer peripheral surface of the lower end side portion of the tubular member 26. Even in this case, the lower end side of the tubular member 26 can be held to the output side member 27 with a relatively simple structure.

In the above embodiment, the lower end side of the tubular member 26 is movably attached to the output side member 27, but the lower end side of the tubular member 26 may be movably attached to the rigid internally-toothed gear 16 as the output shaft of the speed reducer 8. In the above embodiment, the small diameter portion 27d of the output side member 27 is disposed on the inner peripheral side of the lower end side portion of the input shaft 20, but the small diameter portion 27d may be disposed below the input shaft 20.

In the above embodiment, the rigid internally toothed gear 16 serves as an output shaft of the speed reducer 8, but the flexible externally toothed gear 17 may also serve as an output shaft of the speed reducer 8. At this time, the rigid internally toothed gear 16 is fixed to the housing 11, and the flexible externally toothed gear 17 is fixed to the inner ring 19a of the cross roller bearing 19. Further, in the above embodiment, the speed reducer 8 is a hollow wave gear device, but the speed reducer 8 may be a hollow speed reducer other than the hollow wave gear device. In the above embodiment, the motor 7 is a so-called inner rotor type motor, but the motor 7 may be an outer rotor type motor.

In the above embodiment, the robot 1 includes six joint units 2, but the number of joint units 2 included in the robot 1 may be five or less, or seven or more. In the above embodiment, the robot 1 includes two arms 3, but the number of the arms 3 included in the robot 1 may be one, or may be three or more. In the above embodiment, the air pipe may be disposed so as to pass through the inner peripheral side of the joint 2 (i.e., the inner peripheral side of the tubular member 26 (the inner peripheral side of the rotating shaft 13 and the input shaft 20)).

In the above embodiment, the joint 2 of the robot 1 is constituted by a rotary actuator having the motor 7, the reducer 8, and the like, but the rotary actuator may be used in other than the joint 2 of the robot 1. For example, the rotary actuator may be used for a driving unit of a θ stage (rotary stage). In the above embodiment, the robot 1 is an industrial robot, but the robot 1 can be applied to various applications. For example, the robot 1 may be a service robot.

Claims (10)

1. A rotary actuator, comprising:

a hollow motor having a hollow rotating shaft;

a hollow speed reducer having a hollow input shaft disposed coaxially with the rotating shaft and connected to the rotating shaft;

a tubular member disposed on an inner peripheral side of the rotating shaft and the input shaft; and

a holding member that holds one end side of the tubular member; and is

The holding member includes a holding portion formed with a through hole communicating with an inner peripheral side of the tubular member,

one end side of the tubular member is held by the holding portion,

the other end side of the tubular member is movably attached to an output side portion of the hollow speed reducer.

2. The rotary actuator of claim 1, further comprising a fixed member fixed to an output shaft of the hollow reducer,

the fixed member includes an inserted portion inserted to an inner peripheral side of the other end side portion of the tubular member,

an inner peripheral surface of the tubular member is in contact with an outer peripheral surface of the inserted portion.

3. The rotary actuator of claim 2, wherein the inserted portion is arranged on an inner peripheral side of the input shaft.

4. The rotary actuator of claim 1, further comprising a fixed member fixed to an output shaft of the hollow reducer,

the fixed member includes an insertion portion into which the other end side portion of the tubular member is inserted,

an outer peripheral surface of the tubular member is in contact with an inner peripheral surface of the insertion portion.

5. The rotary actuator according to any one of claims 1 to 4, wherein the tubular member is formed of a resin or is coated with a resin on an inner peripheral surface thereof.

6. The rotary actuator of claim 2, wherein the fixed member includes a step portion facing an end surface of the tubular member.

7. The rotary actuator according to claim 6, wherein the holding portion includes an annular step surface orthogonal to an axial direction of the rotary shaft,

one end side of the tubular member is held by the holding member in a state of facing the step surface.

8. The rotary actuator of claim 4, wherein the fixed member includes a step portion facing an end surface of the tubular member.

9. The rotary actuator according to claim 8, wherein the holding portion includes an annular step surface orthogonal to an axial direction of the rotary shaft,

one end side of the tubular member is held by the holding member in a state of facing the step surface.

10. A robot, comprising: a joint portion constituted by the rotary actuator according to any one of claims 1 to 5, and a wire routed so as to pass through an inner peripheral side of the tubular member.

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