JP2012231605A - Driving device and robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving device which inhibits the deterioration of the accuracy of the rotation control.SOLUTION: A driving device includes: a first shaft member in which a first shaft part and a second shaft part, which respectively have hollow parts, are connected by universal joints; a second shaft member inserted into the hollow parts and connecting with the first shaft member through a power transmission part; a driving part rotating the first shaft member; and a detection part having a scale provided at one of the first shaft member and the second shaft member and detecting information regarding the rotation of the one shaft member.

Description

  The present invention relates to a drive device and a robot apparatus.

  A drive unit such as a geared motor may be used for a drive part of an industrial robot or the like. A geared motor includes, for example, a motor having a hollow motor shaft, a speed reducer coupled to the motor shaft, and a motor shaft. And an output shaft connected to the output side of the speed reducer. (For example, refer to Patent Document 1). The speed reducer includes, for example, one or more gears.

  In a geared motor, an encoder that detects rotation information such as the number of rotations may be provided on at least one of the rotation shaft of the motor and the output shaft of the speed reducer. For example, the encoder is configured to optically detect a displacement of a scale provided on a target shaft whose rotation speed is to be detected.

JP 2003-70284 A

  In motors with gears, lubricants such as grease and liquids such as rust preventives may be used for the gears of the reduction gears, and this liquid can flow to the encoder via the motor rotation shaft and the reduction gear output shaft. There is sex. For example, when the scale is covered with the above liquid, the encoder may have a lower detection accuracy. As a result, there is a possibility that the accuracy of the operation of the machine equipped with the geared motor is lowered.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a drive device and a robot device that can suppress a reduction in accuracy of control of rotation information.

  According to the first aspect of the present invention, the first shaft member having the hollow portion and the second shaft portion connected to each other by the universal joint, the first shaft member inserted into the hollow portion, There is a second shaft member connected through the power transmission unit, a drive unit for rotating the first shaft member, and a scale provided on one of the first shaft member and the second shaft member. And a detection unit that detects information related to rotation of one of the shaft members.

  According to the second aspect of the present invention, the first shaft member having the hollow portion, the second shaft member inserted into the hollow portion and connected to the first shaft member via the power transmission portion, and the first shaft There is a drive unit that rotates the member, a sealing unit that seals the fluid in the hollow portion of the first shaft member, and a scale provided on one of the first shaft member and the second shaft member. And a detection unit that detects information related to rotation of one of the shaft members.

  According to the third aspect of the present invention, the first shaft member in which the first shaft portion and the second shaft portion having the hollow portion are connected to each other at the discontinuous portion, and the first shaft member is inserted into the hollow portion. And a second shaft member connected via a power transmission unit, a drive unit for rotating the first shaft member, a first scale disposed on the first shaft member, and a second shaft disposed on the second shaft member. And a detector that detects information related to rotation of at least one of the first shaft member and the second shaft member.

  According to a fourth aspect of the present invention, there is provided a robot apparatus including a shaft member and the drive devices according to the first to third aspects that drive the shaft member.

  ADVANTAGE OF THE INVENTION According to this invention, the drive device and robot apparatus which can suppress the precision fall of control of rotation information can be provided.

It is a figure which shows the drive device of 1st Embodiment. It is a figure which shows the 1st scale and 2nd scale of the drive device of 1st Embodiment. It is a figure which shows the detection part of the drive device of 1st Embodiment. It is a figure which shows the drive device of 2nd Embodiment. It is a figure which shows the robot apparatus of 3rd Embodiment.

[First Embodiment]
A first embodiment will be described.
FIG. 1 is a diagram illustrating a schematic configuration of the driving apparatus according to the first embodiment. A drive device 1A shown in FIG. 1 includes a motor (drive unit) 2, a drive unit main body 4 that holds the motor 2, a motor shaft (first shaft member) 4 that is rotated by the motor 2, and an output shaft (second shaft). Member) 5, a speed reducer (power transmission unit) 6 that transmits the rotation of the motor shaft 4 to the output shaft 5, a detection unit 7 that detects information about the rotation of at least one of the motor shaft 4 and the output shaft 5, and a detection unit 7 includes a detection unit main body 8 that holds at least a part of the control unit 7, and a control unit 9 that controls each unit of the drive device 1A.

  The drive device 1 </ b> A can rotate the output shaft 5 at a rotational speed obtained by rotating the motor shaft 4 by the torque generated by the motor 2 and decelerating the rotation of the motor shaft 4 by the speed reducer 6. The motor shaft 4 and the output shaft 5 are provided so as to be rotatable around the rotation shaft 10. The detection unit 7 of the present embodiment includes a first encoder 11 that detects information related to rotation of the motor shaft 4 and a second encoder 12 that detects information related to rotation of the output shaft 5. The control unit 9 controls the motor 2 based on the detection result of the detection unit 7 to control the rotation information (for example, rotation speed) of the motor shaft 4, and as a result, the rotation information (for example, rotation speed) of the output shaft 5. Etc.) can be controlled. The control unit 9 may be a control device that controls a device external to the drive device 1A, for example, a robot device on which the drive device 1A is mounted.

  The motor shaft 4 of this embodiment has a structure in which a first shaft portion 13 and a second shaft portion 14 are connected by a first universal joint 15. The second shaft portion 14 is rotatably supported by the first universal joint 15. The second shaft portion 14 can be inclined relative to the first shaft portion 13 by rotating around the first universal joint 15 in a plane including the axial direction of the first shaft portion 13.

  In the present embodiment, the axial direction of the second shaft portion 14 is substantially parallel to the axial direction of the first shaft portion 13. The first universal joint 15 rotates the first shaft portion 13 regardless of whether the axial direction of the second shaft portion 14 is parallel to or inclined with respect to the axial direction of the first shaft portion 13. This can be transmitted to the second shaft portion 14.

  Hereinafter, the positional relationship of each member will be described with reference to the XYZ orthogonal coordinate system shown in each drawing. In the XYZ orthogonal coordinate system, the Z axis is parallel to the axial direction of the first shaft portion 13, and the X axis and the Y axis are orthogonal to the Z axis and orthogonal to each other.

  Each of the first shaft portion 13 and the second shaft portion 14 has a hollow and substantially cylindrical shape. The first shaft portion 13 has a first hollow portion 16, and the second shaft portion 14 has a second hollow portion 17.

  The first shaft portion 13 of the present embodiment has one end side (−Z side, the reduction gear 6 side of the motor shaft 4) and the other end side (+ Z side, the detection portion 7 side of the motor shaft 4) in the axial direction. Thus, the drive unit 3 is rotatably supported (held) via the first bearing 18. As for the 1st axial part 13 of this embodiment, the edge part of -Z side is connected to the reduction gear 6, and the edge part of + Z side is -Z of the 2nd axial part 14 via the 1st universal joint 15. Connected to the end of the side. The second shaft portion 14 of the present embodiment is rotatably supported (held) on the detection unit main body 8 via the second bearing 19 on the side opposite to the first shaft portion 13 with respect to the first universal joint 15. Has been.

  In the present embodiment, at least a part of the inner peripheral surface 20 of the first shaft portion 13 is discontinuous between the inner peripheral surface 21 of the second shaft portion 14 and the first universal joint 15. In the present embodiment, the first hollow portion 16 of the first shaft portion 13 and the second hollow portion 17 of the second shaft portion 14 are parts of the first universal joint, and communicate with the outside of each shaft portion. . Thus, the first universal joint 15 constitutes a first discontinuous portion in which at least a part of the first shaft portion 13 is discontinuous with the second shaft portion 14.

  The motor 2 of the present embodiment includes a magnet 23 attached to the outer peripheral surface 22 of the first shaft portion 13 and a coil 24 arranged so as to surround the magnet 23. The motor 2 can rotate the magnet 23 and the first shaft portion 13 together by a force received by the magnet 23 from a magnetic field generated by electric power supplied to the coil 24 from the outside of the motor 2. When the first shaft portion 13 rotates, the second shaft portion 14 rotates by the torque transmitted from the first shaft portion 13 via the first universal joint 15.

  Note that at least one of the first shaft portion 13 and the second shaft portion 14 may be a part of the motor 2, and in this case, the drive portion includes a magnet 23 and a coil 24. . If the motor 2 generates power for rotating the motor shaft 4, the configuration of the motor 2 can be changed as appropriate. For example, the magnet 23 may be a permanent magnet or an electromagnet.

  The speed reducer 6 is held by the drive unit main body 3 on one end side (−Z side) of the first shaft portion 13 of the motor shaft 4. The speed reducer 6 is, for example, a wave gear speed reducer, and includes one or more gears, a bearing that supports the gears, and the like. The speed reducer 6 of this embodiment can rotate the output shaft 5 at a rotational speed different from that of the motor shaft 4 by transmitting the rotation of the motor shaft 4 to the output shaft 5 through one or more gears.

  In addition, if a power transmission part transmits rotation of the motor shaft 4 to the output shaft 5, the structure can be changed suitably. For example, the power transmission unit may rotate the output shaft 5 at the same rotational speed as the motor shaft 4 or may rotate the output shaft 5 at a rotational speed faster than the motor shaft 4. That is, the gear ratio of the power transmission unit may be less than 1 or 1 or more. Further, the speed ratio of the power transmission unit may be a fixed value or a variable value.

  The output shaft 5 of this embodiment has a structure in which a third shaft portion 25 and a fourth shaft portion 26 are connected by a second universal joint 27. The output shaft 5 can rotate the fourth shaft portion 26 relative to the third shaft portion 25 so as not to interfere with the second shaft portion 14 of the motor shaft 4. In the present embodiment, the axial direction of the fourth shaft portion 26 is substantially parallel to the axial direction of the third shaft portion 25. The second universal joint 27 rotates the third shaft portion 25 in any state where the axial direction of the fourth shaft portion 26 is parallel to or inclined with respect to the axial direction of the third shaft portion 25. This can be transmitted to the fourth shaft portion 26.

  Each of the third shaft portion 25 and the fourth shaft portion 26 of the present embodiment has a substantially cylindrical shape. In the present embodiment, the third shaft portion 25 is coaxially inserted into the first hollow portion 16 of the first shaft portion 13, and the axial direction of the third shaft portion 25 is the same as the axial direction of the first shaft portion 13. It is almost parallel. The third shaft portion 25 is connected to the speed reducer 6 at the −Z side end. The third shaft portion 25 is rotated by torque transmitted from the first shaft portion 13 of the motor shaft 4 via the speed reducer 6.

  In the present embodiment, the fourth shaft portion 26 is coaxially inserted into the second hollow portion 17 of the second shaft portion 14, and the axial direction of the fourth shaft portion 26 is the same as the axial direction of the second shaft portion 14. It is almost parallel. The −Z side end of the fourth shaft portion 26 is connected to the + Z side end of the third shaft portion 25 via the second universal joint 27. The fourth shaft portion 26 is rotatably supported (held) on the detection unit main body 8 via the third bearing 28 on the side opposite to the third shaft portion 25 (+ Z side) with respect to the second universal joint 27. ing. The fourth shaft portion 26 is rotated by torque transmitted from the third shaft portion 25 via the second universal joint 27.

  The third shaft portion 25 may be eccentric relative to the first shaft portion 13 within a range that does not interfere with the first shaft portion 13 in a state where the third shaft portion 25 is rotating, The axial direction of the third shaft portion 25 may be inclined relative to the axial direction of the first shaft portion 13. Further, the fourth shaft portion 26 may be eccentric relative to the second shaft portion 14 in a range that does not interfere with the second shaft portion 14 in a state where the second shaft portion 14 is rotating, The axial direction of the fourth shaft portion 26 may be inclined relative to the axial direction of the second shaft portion 14.

  In the present embodiment, at least a part of the outer peripheral surface 29 of the third shaft portion 25 is discontinuous between the outer peripheral surface 30 of the fourth shaft portion 26 and the second universal joint 27. That is, the second universal joint 27 constitutes a second discontinuous portion in which at least a part of the third shaft portion 25 is discontinuous with the fourth shaft portion 26.

  The drive device 1 </ b> A of the present embodiment includes a sealing portion 31 that seals the fluid L in the first hollow portion 16 of the first shaft portion 13 of the motor shaft 4. The sealing portion 31 of the present embodiment includes a pair of labyrinth seals, and can suppress (or reduce) the fluid L from flowing in the first hollow portion 16 in the axial direction of the first shaft portion 13. Each labyrinth seal extends in the radial direction of the first shaft portion 13 from the first shaft portion 13 toward the third shaft portion 25 and is not in contact with the third shaft portion 25, and the rotating shaft 10. The second shaft portion extends from the third shaft portion 25 to the first shaft portion 13 in the radial direction, and is in non-contact with the first shaft portion 13. Said 1st ring part and 2nd ring part are approaching non-contact mutually in the axial direction of the 1st axial part 13, and are repeatedly arrange | positioned alternately.

  The drive device 1A of the present embodiment is used in a state where the fluid L is sealed between a pair of labyrinth seals. In the present embodiment, the saturated vapor pressure of the fluid L at the environmental temperature (for example, normal temperature) of the drive device 1A is equal to or lower than the saturated vapor pressure of water. The fluid L includes, for example, one type or two or more types of water or a liquid having a saturated vapor pressure lower than that of water. Moreover, the fluid L may contain gas and liquid, and may be only gas.

  The drive device 1 </ b> A of the present embodiment includes a detection unit main body 8 that holds at least a part of the detection unit 7. The detector main body 8 is disposed on the opposite side of the speed reducer 6 with respect to the first universal joint 15. The detection unit main body 8 of the present embodiment is attached to the drive unit main body 3 via the attitude adjustment unit 32.

  The attitude adjustment unit 32 can adjust the relative attitude between the drive unit main body 3 and the detection unit main body 8. The posture adjusting unit 32 of the present embodiment includes screws 33 provided at a plurality of positions in a plane orthogonal to the axial direction of the second shaft portion 14 of the motor shaft 4. The screw shaft of the screw 33 is screwed into the screw hole of the drive unit body 3 through a through hole and a spring 34 provided in the detection unit body 8. The screw head of the screw 33 protrudes to the outside of the through hole of the detection unit main body 8 to regulate the position of the detection unit main body 8. The detector main body 8 is biased by a spring 34 toward the screw head.

  The posture adjustment unit 32 can adjust the distance between the drive unit body 3 and the detection unit body 8 at the installation position of the screw 33 by moving the screw 33 forward and backward with respect to the drive unit body 3. That is, the posture adjustment unit 32 can adjust the relative posture of the detection unit main body 8 with respect to the drive unit main body 3 by adjusting the screwing amount of the screw 33.

  Since the first shaft portion 13 of the motor shaft 4 is held by the drive portion main body 3 and the second shaft portion 14 of the motor shaft 4 is held by the drive portion main body 3, the posture adjusting portion 32 has a detection portion main body. By adjusting the posture of 8, the relative posture (tilt) of the first shaft portion 13 and the second shaft portion 14 of the motor shaft 4 can be adjusted.

  The first encoder 11 of the detection unit 7 includes a first scale 35, a first illumination unit 36 that irradiates light to the first scale 35, and a first light receiving unit 37 that receives light via the first scale 35. Have. The first scale 35 is attached to the second shaft portion 14 of the motor shaft 4 so as to be orthogonal to the axial direction of the second shaft portion 14. The first scale 35 of the present embodiment is attached to the end of the second shaft portion 14 on the side opposite to the second universal joint 27. The first illumination unit 36 and the first light receiving unit 37 are attached to the detection unit main body 8.

  The second encoder 12 of the detection unit 7 includes a second scale 38, a second illumination unit 39 that irradiates light to the second scale 38, and a second light receiving unit 40 that receives light via the second scale 38. Have. The second scale 38 is attached to the fourth shaft portion 26 of the output shaft 5 so as to be orthogonal to the axial direction of the fourth shaft portion 26. The second illumination unit 39 and the second light receiving unit 40 are attached to the detection unit main body 8.

  The 1st illumination part 36 and the 2nd illumination part 39 are each comprised including light emitting elements, such as LED, for example. The first illumination unit 36 is disposed to face the first scale 35. The second illumination unit 39 is disposed to face the second scale 38. Each of the first light receiving unit 37 and the second light receiving unit 40 includes a photoelectric conversion element such as a photodiode, for example. The first light receiving unit 37 is disposed at a position where light emitted from the first illumination unit 36 and reflected by the first scale 35 enters. The second light receiving unit 40 is disposed at a position where light emitted from the second illumination unit 39 and reflected by the second scale 38 enters.

  FIG. 2 is a plan view showing a first scale and a second scale of the driving apparatus according to the first embodiment. FIG. 3 is a block diagram illustrating a functional configuration of a detection unit of the drive device according to the first embodiment.

  The first scale 35 shown in FIG. 2 includes a first INC pattern (incremental pattern) 41 and a first INC pattern 41 arranged on the inner side of the first INC pattern 41 in the radial direction (radial direction) of the first shaft portion 13. ABS pattern (absolute pattern) 42. The first light receiving unit 37 can detect the light reflected by the first INC pattern 41 and the light reflected by the first ABS pattern 42, respectively.

  The second scale 38 includes a second INC pattern (incremental pattern) 43 and a second ABS (absolute pattern) pattern 44 arranged on the inner side of the second INC pattern 43 in the radial direction of the first shaft portion 13. And have. The second light receiving unit 40 can detect the light reflected by the second INC pattern 43 and the light reflected by the second ABS pattern 44, respectively.

  In the present embodiment, the second encoder 12 of the detection unit 7 has the same configuration as the first encoder 11. Here, the configuration of the first encoder 11 will be described representatively. The first ABS pattern 42 of the first scale 35 represents absolute position information in the rotation direction, and is constituted by, for example, a predetermined number of M series codes. The first INC pattern 41 represents relative position information in the rotation direction, and is constituted by, for example, a pulse pattern. Further, for example, the first INC pattern 41 is used for interpolation of the absolute position information or is used for calculation of the rotation direction.

  Each of the ABS pattern and the INC pattern has a light reflecting portion whose sign is 1 (H) and a light absorbing portion whose sign is 0 (L). The light reflecting portion is formed of a member having a high reflectivity such as gold, aluminum, chromium, or copper. The light absorbing portion is formed of a layer that absorbs light, such as a layer coated with a black paint, a black alumite layer, a plating layer (for example, a nickel plating layer), or a chromium oxide layer.

  The first encoder 11 illustrated in FIG. 3 includes a first signal processing unit 45 that controls the first light receiving unit 37 and processes a signal from the first light receiving unit 37. The first signal processing unit 45 of the present embodiment includes an amplification unit, a binarization unit, a filter unit, an A / D conversion unit, an arithmetic processing unit, and the like. The first signal processing unit 45 is configured by a semiconductor device (arithmetic circuit) such as an ASIC (Application Specific Integrated Circuit). The first signal processing unit 45 may be configured by a computer system in which a program for executing various processes is installed.

  The first signal processing unit 45 controls the first light receiving unit 37 to obtain information (for example, a detection signal) based on the light amount of light incident on the first light receiving unit 37 at a predetermined timing. Can be received from. The first signal processing unit 45 collates the detection result of the first light receiving unit 37 with respect to the light reflected by the first ABS pattern 42 with the sign of the first ABS pattern 42, thereby to match the first ABS pattern 42. , That is, the rotational position of the motor shaft 4 can be detected.

  In addition, the first signal processing unit 45 compares the detection results of the first light receiving unit 37 detected at a predetermined time interval with respect to the light reflected by the first INC pattern 41, so that the first signal processing unit 45 in the predetermined time interval The amount of change in the rotational position of the INC pattern 41, that is, the rotational speed taking into account the rotational direction of the motor shaft 4 can be detected.

  The first signal processing unit 45 transmits at least one of information regarding the rotation of the motor shaft, for example, information indicating the rotation position of the motor shaft 4 and information indicating the rotation speed to the first host system 46. The first host system 46 of this embodiment is a part of the control unit 9. The control unit 9 controls the motor 2 based on the information received by the first host system 46 from the first signal processing unit 45, and as a result, rotation information (for example, rotation position, rotation speed, rotation speed, etc.) of the motor shaft 4. ) Can be controlled.

  The second encoder 12 includes a second signal processing unit 47 similar to the first signal processing unit 45, and can transmit information related to the rotation of the output shaft 5 to the second host system 48. The second host system 48 of this embodiment is a part of the control unit 9, and the control unit 9 controls the motor 2 based on the information received by the second host system 48 from the second signal processing unit 47, and the result As a result, rotation information (for example, rotation position, rotation speed, rotation speed, etc.) of the output shaft 4 can be controlled.

  The control unit 9 rotates the output shaft 5 using the rotational speed of one of the rotational speed of the output shaft 5 and the rotational speed of the motor shaft 4 and the gear ratio (reduction ratio) of the speed reducer 6. An estimated value of the other of the speed and the rotational speed of the motor shaft 4 can also be calculated. The control unit 9 can also check the consistency between the detection result of the first encoder 11 and the detection result of the second encoder 12 by comparing the estimated value of the rotational speed and the measured value. As described above, since the rotation speed of one of the rotation speed of the output shaft 5 and the rotation speed of the motor shaft 4 can be obtained, the first encoder 11 or the second encoder 12 It may not be provided. In the driving apparatus 1 </ b> A, the first signal processing unit 45 may be a part of the control unit 9, and the first encoder 11 may not include the first signal processing unit 45.

  By the way, the speed reducer 6 may be used together with a lubricant such as grease or a liquid such as a rust preventive for lubricating the gear or the bearing. This liquid may flow from the speed reducer 6 toward the detection unit 7 along the motor shaft 4 or the output shaft 5. If this liquid covers the first scale 35 or the second scale 38, the detection accuracy of the detection unit 7 may be reduced. Further, even when this liquid adheres to a component other than the scale of the detection unit 7, for example, the light from the illumination unit to the scale or the light from the scale to the light receiving unit is blocked by the adhering substance. The accuracy of detection may decrease.

  Further, as shown in FIG. 1, the drive device 1 </ b> A according to the present embodiment is reduced in speed because the fluid L is sealed in the first hollow portion 16 of the first shaft portion 13 of the motor shaft 4 by the sealing portion 31. It becomes difficult for the liquid and gas from the machine 6 to flow through the first hollow portion 16 in the axial direction of the first shaft portion 13. Therefore, the driving device 1A is less likely to reach the detection unit 7 with the liquid or gas from the speed reducer 6, and can suppress a decrease in detection accuracy of the detection unit 7 due to the liquid or gas. For example, the liquid and gas from the speed reducer 6 and the like include grease and oil mist.

  Further, since the saturated vapor pressure of the fluid L is equal to or lower than the saturated vapor pressure of water, the driving device 1A evaporates the fluid L even when the fluid L leaks from the first shaft portion 13 to the second shaft portion 14 side. Therefore, it is possible to suppress the fluid L from remaining in the detection unit 7. Therefore, the drive device 1A can also suppress a decrease in detection accuracy of the detection unit 7 due to the fluid L.

  In addition, the driving device 1 </ b> A of the present embodiment has a gap (first universal joint 15) between the first shaft portion 13 and the second shaft portion 14. Therefore, for example, at least part of the liquid (hereinafter referred to as leaked liquid) that has reached the first universal joint 15 from the first hollow portion 16 of the first shaft portion 13 is transferred to the first shaft by the first universal joint 15. The portion 13 is discharged to the outside in the radial direction. Further, the leaked liquid is easily discharged in the radial direction of the first shaft portion 13 by receiving a centrifugal force while the motor 2 is rotating.

  Further, the drive device 1 </ b> A according to the present embodiment has a gap (second universal joint 27) between the third shaft portion 25 and the fourth shaft portion 26. Therefore, the leaked liquid is suppressed from being transmitted from the third shaft portion 25 to the fourth shaft portion 26.

  In this way, in the driving device 1A, for example, the leaked liquid is discharged to the outside of the first shaft portion 13 by the first universal joint 15, so that the leaked liquid is difficult to reach the detection unit 7. Therefore, the driving device 1A can suppress a decrease in detection accuracy of the detection unit 7 due to leaked liquid or the like, and can control rotation information (for example, rotation position, rotation speed, etc.) of the output shaft 5 with high accuracy. .

  The leaked liquid may include only one of the liquid from the speed reducer 6 and the fluid L sealed by the sealing portion 31, or may include both. That is, the drive device 1 </ b> A can also discharge the fluid L leaked from the first hollow portion 16 to the first universal joint 15 side by the first universal joint 15.

  The output shaft 5 may have a structure that does not include the second universal joint 27. The output shaft 5 may be a cylindrical member that extends linearly between the speed reducer 6 and the third bearing 28. In this case, the axial direction of the second shaft portion 14 may be substantially parallel to the axial direction of the first shaft portion 13, and the first shaft portion is within a range in which the second shaft portion 14 does not interfere with the fourth shaft portion 26. You may incline with respect to 13 axial directions. The drive device only needs to include at least one of the sealing portion 31 and the first universal joint 15, may include the sealing portion 31, and may not include the first universal joint 15. The universal joint 15 may be included and the sealing part 31 may not be included.

  Further, the drive device may have a configuration in which at least one of the first discontinuous portion and the second discontinuous portion does not include a universal joint. For example, the drive device may be configured such that the second shaft portion 14 is separated from the first shaft portion 13 in the axial direction, and the second shaft portion is fixed to the first shaft portion by a rod-like member extending in the axial direction. . In this case, the first discontinuous portion includes the rod-shaped member.

  In the driving device, the motor 2 is attached to the second shaft portion 14, and the rotation of the second shaft portion 14 by the motor 2 is transmitted to the speed reducer 6 via the first universal joint 15 and the first shaft portion 13. It may be configured to be transmitted.

  Moreover, the sealing part 31 should just be able to seal a fluid to at least one of the 1st hollow part 16 and the 2nd hollow part 17. FIG. For example, the sealing portion 31 is provided in the second hollow portion 17 and may not be provided in the first hollow portion 16, or is provided in both the first hollow portion 16 and the second hollow portion 17. It may be. In the driving device, the sealing portion 31 can seal the fluid in the hollow portion, and the liquid may not be sealed in the hollow portion. In this case, the sealing portion 31 itself can suppress the liquid from the speed reducer 6 from flowing in the axial direction of the rotary shaft 10.

[Second Embodiment]
Next, a second embodiment will be described. In the second embodiment, the same components as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and the description thereof may be simplified or omitted.

  FIG. 4 is a diagram illustrating a driving apparatus according to the second embodiment. In the drive device 1 </ b> B shown in FIG. 4, at least a part of the second shaft portion 14 of the motor shaft 4 is arranged in a direction different from the axial direction of the first shaft portion 13. In the present embodiment, the axial direction of the second shaft portion 14 is inclined relative to the axial direction of the first shaft portion 13. In the present embodiment, the second shaft portion 14 is inclined so as to be directed upward in the vertical direction toward the opposite side of the first shaft portion 13 with respect to the first universal joint 15.

  In the present embodiment, the output shaft 5 is inclined relative to the third shaft portion 25 so that the fourth shaft portion 26 does not interfere with the second shaft portion 14 of the motor shaft 4. In the present embodiment, the fourth shaft portion 26 of the output shaft 5 is substantially parallel to the second shaft portion 14 of the motor shaft 4.

  The drive device 1 </ b> B of the present embodiment adjusts the relative posture between the drive unit main body 3 and the detection unit main body 8 by the posture adjustment unit 32, thereby changing the axial direction of the second shaft portion 14 of the first shaft portion 13. It is possible to incline relative to the axial direction and to incline the axial direction of the fourth shaft portion 26 relative to the axial direction of the third shaft portion 25. Further, in the driving device 1B of the present embodiment, the attitude adjustment unit 32 variably (or selectively) adjusts the angle formed by the axial direction of the second shaft part 14 with respect to the axial direction of the first shaft part 13. Can do.

  The driving device 1B of the second embodiment flows through the first hollow portion 16 of the first shaft portion 13 because the axial direction of the second shaft portion 14 is inclined with respect to the axial direction of the first shaft portion 13. It becomes difficult for liquid or gas to flow into the second hollow portion 17 of the second shaft portion 14. Further, in the driving device 1 </ b> B, since the axial direction of the fourth shaft portion 26 is inclined relative to the axial direction of the third shaft portion 25, the fourth shaft portion 26 is coaxial with the second shaft portion 14. Can be rotated.

  The detection unit main body 8 is fixed so that the relative posture with respect to the drive unit main body 3 cannot be changed so that the second shaft portion 14 is held in a posture inclined relative to the first shaft portion 13. It may be. Further, the second shaft portion 14 may be inclined so as to go downward in the vertical direction toward the opposite side of the first shaft portion 13 with respect to the first universal joint 15. Moreover, the 2nd axial part 14 is extended in the horizontal direction, and the 1st axial part 13 may incline so that it may face upward or downward as it goes to the 2nd axial part 14. Moreover, the axial direction of the 1st axial part 13 and the axial direction of the 2nd axial part 14 may each incline in the perpendicular direction. Moreover, the axial direction of the 1st axial part 13 and the axial direction of the 2nd axial part 14 are respectively substantially parallel to the horizontal direction, and may cross | intersect in a horizontal surface.

[Third Embodiment]
Next, a third embodiment will be described. FIG. 5 is a diagram illustrating a schematic configuration (tip of the finger portion) of the robot apparatus according to the third embodiment. A robot apparatus 100 shown in FIG. 5 includes a terminal joint 101, a middle joint 102, and a joint 103 that connects the terminal joint 101 and the middle joint 102. The robot apparatus 100 can execute various processes by moving the end node 101 with the power generated in the middle node 102. The driving device described in the above embodiment may be used as a driving unit that drives the arm unit of the robot apparatus 100.

  The middle joint portion 102 includes the driving device 104 (for example, the driving device 1 </ b> A) described in the above embodiment, a housing 105 that houses the driving device 104, and a rotating shaft member 106 that is connected to the output shaft of the driving device 104. And a first gear 107 fixed to the rotating shaft member 106. The rotating shaft member 106 may be a part of the output shaft of the driving device 104. The first gear 107 is, for example, a bevel gear. The joint portion 103 is fixedly attached to the housing 105 and has a support portion 108 protruding from the housing 105, a shaft portion 109 fixed and supported by the support portion 108, and a shaft portion 109 rotatably attached to the joint portion 103. The second gear 110 is provided. The shaft portion 109 penetrates the connecting portion 111 that is a part of the end node portion 101, and supports the end node portion 101 so that the end node portion 101 can rotate around the shaft portion 109. The second gear 110 is fixed to the connection portion 111 of the end node portion 101. The second gear 110 is a bevel gear, for example, and meshes with the first gear 107.

  In the robot apparatus 100 of this embodiment, the rotation shaft member 106 is rotated by driving of the drive device 104, and the first gear 107 is rotated integrally with the rotation shaft member 106. When the first gear 107 rotates, the rotation of the first gear 107 is transmitted to the second gear 110, and the second gear 110 rotates. When the second gear 110 rotates, the connecting portion 111 rotates, so that the end node portion 101 rotates around the shaft portion 109. Since the robot apparatus 100 according to the present embodiment suppresses a decrease in the rotational speed control of the driving device 104, the operation of the terminal node 101 can be controlled with high accuracy.

  The scope of application of the present invention is not limited to the above embodiment. The requirements described in the above embodiments can be combined as appropriate. In addition, one or more of the requirements described in the above embodiments may not be used.

DESCRIPTION OF SYMBOLS 1A, 1B ... Drive device, 2 ... Motor (power part), 3 ... Drive part main body, 4 ... Motor shaft (1st shaft member), 5 ... Output shaft (2nd axis) Member), 6 ... reducer (power transmission unit), 7 ... detecting unit, 8 ... detecting unit main body, 13 ... first shaft unit, 14 ... second shaft unit, 15. ..First universal joint (discontinuous portion), 16... First hollow portion, 17... Second hollow portion, 25... Third shaft portion, 26. ... second universal joint (second discontinuous part), 31 ... sealing part, 32 ... posture adjusting part, 35 ... first scale, 37 ... first light receiving part, 38 ... second scale, 40 ... second light receiving unit, 100 ... robot device

Claims (15)

A first shaft member in which a first shaft portion having a hollow portion and a second shaft portion are connected to each other by a universal joint;
A second shaft member inserted into the hollow portion and connected via the first shaft member and a power transmission unit;
A drive unit for rotating the first shaft member;
A detector having a scale provided on one of the first shaft member and the second shaft member, and detecting information related to rotation of the one shaft member;
A drive device comprising:   The drive device according to claim 1, wherein at least a part of the second shaft portion is disposed in a direction different from an axial direction of the first shaft portion.   The drive device according to claim 1, wherein the second shaft portion is inclined relative to the first shaft portion.   The second shaft member has a third shaft portion and a fourth shaft portion that are connected to each other by a second universal joint, and the fourth shaft portion is inclined relative to the third shaft portion. The drive device according to claim 1, wherein   The drive device according to claim 4, wherein the fourth shaft portion is parallel to the second shaft portion. A drive unit main body for holding the first shaft part;
A detection unit main body for holding the second shaft part;
A posture adjustment unit that adjusts a relative posture between the drive unit main body and the detection unit main body;
The drive device according to any one of claims 1 to 5, further comprising:   The drive unit according to claim 6, wherein the detection unit includes a light receiving unit that is held by the detection unit main body and receives light via the scale.     The drive device according to claim 1, further comprising a sealing portion that seals fluid in the hollow portion. A first shaft member having a hollow portion;
A second shaft member inserted into the hollow portion and connected via the first shaft member and a power transmission unit;
A drive unit for rotating the first shaft member;
A sealing portion that seals fluid in the hollow portion of the first shaft member;
A detector having a scale provided on one of the first shaft member and the second shaft member, and detecting information related to rotation of the one shaft member;
A drive device comprising:   The drive device according to claim 8 or 9, wherein the sealing portion includes a labyrinth seal.   The drive device according to any one of claims 8 to 10, wherein a vapor pressure of the fluid is equal to or lower than a vapor pressure of water.   The drive unit according to claim 1, wherein the detection unit includes a light receiving unit that receives light via the scale. A first shaft member in which a first shaft portion having a hollow portion and a second shaft portion are connected to each other at a discontinuous portion;
A second shaft member inserted into the hollow portion and connected via the first shaft member and a power transmission unit;
A drive unit for rotating the first shaft member;
A first scale member disposed on the first shaft member and a second scale member disposed on the second shaft member, wherein at least one shaft member of the first shaft member and the second shaft member A detection unit for detecting information related to rotation of the
A drive device comprising: The second shaft member has a third shaft portion and a fourth shaft portion,
The third shaft portion and the fourth shaft portion are connected to each other at a second discontinuous portion,
The drive device according to claim 13. A shaft member;
The drive device according to any one of claims 1 to 14, which drives the shaft member;
A robot apparatus comprising:

Images