JP5421186B2 - Auxiliary motor, single-axis robot and telescopic device provided with the same - Google Patents

Description

  The present invention relates to a motor with an auxiliary device including a cover member that covers the auxiliary device, a single-axis robot including the same, and a telescopic device.

  Conventionally, among motors used as driving devices for single-axis robots and telescopic devices, a resolver-equipped motor in which a resolver is installed adjacently (for example, see Patent Document 1) and an electromagnetic brake are adjacent as auxiliary devices. There is a motor with an electromagnetic brake installed (see, for example, Patent Document 2).

  The resolver-equipped motor described in Patent Document 1 includes a motor including a stator provided inside a motor case and a motor rotating shaft having a rotor provided inside the stator. A rear lid provided with a bearing is installed at the end of the motor case, and one end of the motor rotating shaft extends to the outside of the motor via the bearing of the rear lid. A resolver is installed at one end of the motor rotation shaft, and the resolver is covered with a resolver cover. A hole is provided in the vicinity of the rear cover in the motor case, and the motor lead wire extending from the stator extends to the outside through this hole. Further, the rear cover is provided with a lead hole, and the lead wire extending from the resolver extends to the outside together with the motor lead wire through the lead hole of the rear cover and the hole of the motor case.

  The motor with an electromagnetic brake (expansion joint) described in Patent Document 2 is engaged with a ball screw that rotates in the ball screw housing portion by the operation of the motor, and moves in the ball screw housing portion by the rotation of the ball screw. A ball nut that has become possible, and a telescopic arm that is fixed to the ball nut and moves forward and backward from the ball screw housing portion by the movement of the ball nut. In addition, a motor accommodating portion is installed at one end of the ball screw accommodating portion, and a motor and an electromagnetic brake are adjacently and coaxially installed therein. A connector is provided in the vicinity of the end on the side opposite to the ball screw housing portion on the side surface of the cover that becomes the outer shell of the motor housing portion, and a lead wire extending from the motor and a lead wire extending from the electromagnetic brake are attached to this connector. It is connected.

Japanese Patent No. 3711177 Japanese Patent No. 2938795

  However, in the former of the above-described conventional motors with auxiliary devices, since the hole of the motor case is exposed to the outside, there is a possibility that water, foreign matter, etc. may enter the motor case from the hole. When maintaining the resolver separately from the motor, remove the resolver cover, which is a cover member that covers the resolver, and pull out the lead wire from the inside of the motor case through both the motor case hole and the rear cover lead-out hole. Is necessary, and there is a problem that the removability of the resolver is poor. Further, if vibration is applied to the motor lead wire extending from the stator or the lead wire extending from the resolver, the motor lead wire extending from the resolver may be rubbed against the edge of the hole to cause a disconnection.

  In the latter motor with auxiliary equipment, the tip of the lead wire is connected to the connector toward the outside perpendicular to the direction in which the expansion joint extends. Therefore, when a motor driver is connected to the connector from the outside, the motor driver There is a problem that the lead wire protrudes and gets in the way. Also, since the connector is attached to the cover, which is a cover member that covers the electromagnetic brake in the motor housing, and the motor lead wire is connected to this connector, the cover is separated from the motor for inspection and maintenance of the electromagnetic brake. There is also a problem that it takes time to operate.

  The present invention has been made in order to cope with such a problem. The purpose of the present invention is to prevent the intrusion of water and foreign matter, improve the detachability from auxiliary equipment, and further prevent the lead wire from becoming an obstacle. To provide a motor with an auxiliary device provided with a cover member capable of preventing and protecting a lead wire, and a single-axis robot and a telescopic device provided with the motor. In the description of each constituent element of the present invention below, the reference numerals of corresponding portions of the embodiment are shown in parentheses in order to facilitate understanding of the present invention. The present invention should not be construed as being limited to the configurations of the corresponding portions indicated by the reference numerals of the forms.

  In order to achieve the above-described object, the structural features of the motor with auxiliary equipment according to the present invention include a rotor (15) fixed to the outer peripheral surface of the motor shaft (14) and an outer peripheral surface of the rotor. A stator (16), and a motor casing (11, 12) for rotatably supporting at least one end of the motor shaft with both ends of the motor shaft protruding to the outside and fixing the stator. A motor body (10) having a motor lead wire (17) connected to the stator and having a tip portion extending outside the motor casing, and an auxiliary device installed on the other side of the motor body in the motor axial direction A casing (21), a rotating member (22, 43) installed inside the casing for auxiliary equipment and connected and fixed to the other end of the motor shaft, and the auxiliary machine installed facing the rotating member Auxiliary equipment (20, 40) provided with stationary members (23, 44) fixed to the casing and stationary member lead wires (24, 46) extending outward from the stationary member, and a cover member covering the auxiliary equipment In the motor with auxiliary equipment (A, B, C) provided with (30, 50), the cover member, the end face covering portion (31, 51) covering the other end face of the auxiliary equipment, and the outer peripheral surface of the auxiliary equipment The auxiliary device side pipe (56) is formed between the auxiliary device and the auxiliary device side pipe (56) covering at least a part of the outer peripheral surface of the auxiliary device, extending to the outer peripheral side of the motor casing, and between the motor casing and the auxiliary device side It is comprised with the extension part (33, 54) which communicates with a pipe line and forms the motor main body side pipe line (36) which the front-end | tip opened, and a cover member is connected and fixed to auxiliary equipment or a motor main body so that removal is possible. And motor lead A line and a stationary member for the lead wire, in that the diverted to the outside from the opening through at least the motor body-side lines of the Ryokanro.

  In the motor with auxiliary equipment according to the present invention described above, the cover member is disposed between the end face on the other side of the auxiliary equipment, that is, the end face covering portion that covers the end face opposite to the end face on the motor side, and the outer peripheral face of the auxiliary equipment. A motor body that covers at least a part of the outer peripheral surface of the auxiliary device in a state where the auxiliary device side conduit is formed, extends to the outer periphery of the motor casing, and communicates with the auxiliary device side conduit between the motor casing and the motor casing. It is comprised with the extension part which forms a side pipe line. For this reason, the end face covering portion and the extension portion can make it difficult for water and foreign matter to enter the motor with auxiliary equipment, and protect the motor lead wire and the stationary member lead wire. Also, since the motor lead wire and the stationary member lead wire pass through both pipes or at least in the motor main body side pipe, it protrudes to the outside of the motor casing and auxiliary equipment bracket or in the motor axial direction. Projecting from the motor with auxiliary equipment to the other side will not get in the way.

  Furthermore, since the end surface on the motor side of the cover member is opened, the cover member can be attached to and detached from the auxiliary device from the axial direction of the motor shaft. For this reason, the attachment / detachment of the cover member to the auxiliary device is facilitated. In addition, as a casing for motors, you may comprise separately comprising both the cylindrical casing which accommodates a motor, and the plate-shaped bracket which each supports the both ends of a motor shaft. Further, the casing and one bracket may be integrated, and the other bracket may be separated.

  In addition, another structural feature of the motor with auxiliary equipment according to the present invention is that at least a part of a portion of the cover member perpendicular to the axial direction of the motor with auxiliary equipment protrudes outward from the outer peripheral surface of the motor casing. There are things that I tried not to do.

  According to the motor with auxiliary equipment according to the present invention, by attaching the cover member, it is possible to prevent the entire cover member from protruding outward from the outer peripheral surface of the motor casing. In this case, it is more preferable that all portions of the cover member excluding the extension portion do not protrude outward from the outer peripheral surface of the motor bracket. For example, the auxiliary device-equipped motor may be a flat base. When installing on the table, at least the surface of the cover member at the end surface covering portion facing the base is prevented from projecting outward from the outer peripheral surface of the motor bracket.

  Still another structural feature of the motor with auxiliary equipment according to the present invention is that the auxiliary equipment includes a rotor detector (22) as a rotating member, a stator detector (23) as a stationary member, and a stationary member. A resolver (20) having a resolver lead wire (24) as a lead wire. According to this, the number of rotations of the motor shaft can be detected by the resolver.

  Still another structural feature of the motor with auxiliary equipment according to the present invention is that the auxiliary equipment includes a brake lining (43) as a rotating member, a braking member (44) as a stationary member, and a lead for stationary member. The electromagnetic brake (40) includes an electromagnetic brake lead wire (46) as a wire. According to this, the rotation of the motor shaft can be braked by the electromagnetic brake.

  Further, another structural feature of the motor with auxiliary equipment according to the present invention is that the auxiliary equipment includes a rotor detection section as a rotating member, a stator detection section as a stationary member, and a resolver as a stationary member lead wire. An electromagnetic brake including a resolver including a lead wire, a brake lining as a rotating member, a braking member as a stationary member, and an electromagnetic brake lead wire as a stationary member lead wire is arranged in the axial direction. It is in the configuration. According to this, the number of rotations of the motor shaft can be detected by the resolver, and the rotation of the motor shaft can be braked by the electromagnetic brake.

  Further, another structural feature of the motor with auxiliary equipment according to the present invention is that an elastic member for holding the motor lead wire and the stationary member lead wire at the opening edge of the motor main body side pipe line is provided. The grommet (37) is installed.

  According to this, the lead wire for motor and the lead wire for stationary member can be held in an appropriate state. In this case, the lead wire for the motor and the lead wire for the stationary member extend along the outer peripheral surface of the motor with the auxiliary device in the pipe line, so that it does not get in the way and is prevented from being damaged. The motor lead wire and the stationary member lead wire are held by the grommet where the lead wire for the stationary member and the stationary member lead wire are extended to the outside, so that the motor lead wire and the stationary member lead wire are damaged due to vibration. By doing so, you will not get in the way.

  A feature of the single-axis robot according to the present invention is a single-axis robot (60) including any of the motors with auxiliary devices described above, and a ball screw shaft connected to the other side of the motor shaft. (62), a robot casing (61) for housing the ball screw shaft in a state where both ends of the ball screw shaft are rotatably supported, and a ball screw provided in the robot casing in a state of being screwed to the ball screw shaft. A moving table (63) that is movable in the robot casing by rotating the shaft, and the robot casing has an installation portion (screw hole (64a)) for fixing the single-axis robot to another member on the outer periphery. With the cover member detachably connected to and fixed to the auxiliary device or the motor main body, and the extension portion in the outer peripheral direction around the motor shaft. There are, in fact, which is configured as a position avoiding the the position of the moving table and the position of the mounting portion.

  This makes it difficult for water and foreign matter to enter, and improves detachability from auxiliary equipment, and the lead wire for the motor and the lead wire for the stationary member protrude to the other end side in the motor axis direction or orthogonal to the motor axis direction. A motor with an auxiliary device that includes a cover member that can protect the motor lead wire and the stationary member lead wire. An axis robot can be obtained.

  In addition, a structural feature of the telescopic device according to the present invention is the telescopic device (70) including any of the motors with auxiliary devices described above, and the ball screw (72) connected to the other side of the motor shaft. And a movable nut (73) screwed into the ball screw, a telescopic arm (74) connected to the movable nut and extending in the opposite direction to the motor shaft, and an end of the ball screw on the motor shaft side rotatably supported. And a ball screw casing (71) that slidably supports the extendable arm and moves forward and backward with respect to the outside, and the ball screw shaft casing is installed on the outer periphery to fix the expandable device to another member. With the cover part detachably connected and fixed to the auxiliary equipment or the motor body, the extension part is configured to avoid the position of the installation part in the outer peripheral direction around the motor shaft. It lies in the fact was.

  This makes it difficult for water and foreign matter to enter, and improves detachability from auxiliary equipment, and the lead wire for the motor and the lead wire for the stationary member protrude to the other end side in the motor axis direction or orthogonal to the motor axis direction. A telescopic device having a motor with an auxiliary device provided with a cover member that can be prevented from projecting outward in the direction to be installed or obstructing installation and further capable of protecting the lead wire for motor and the lead wire for stationary member be able to.

It is sectional drawing which showed the motor with an auxiliary equipment which concerns on 1st Embodiment of this invention. The cover member with which the motor with an auxiliary equipment which concerns on 1st Embodiment of this invention is provided is shown, (a) is a top view, (b) is a front view, (c) is a left view, (d) is a right view. FIG. 4E is a bottom view. The grommet with which a motor with auxiliary equipment is provided is shown, (a) is a front view and (b) is a side view. It is sectional drawing which showed the motor with an auxiliary equipment which concerns on 2nd Embodiment of this invention. The cover member with which the motor with an auxiliary equipment which concerns on 2nd Embodiment of this invention is provided is shown, (a) is a top view, (b) is a front view, (c) is a left view, (d) is a right view. FIG. 4E is a bottom view. FIG. 6 is a sectional view taken along line 6-6 in FIG. It is 7-7 sectional drawing of FIG. It is 8-8 sectional drawing of FIG. It is sectional drawing which showed the motor with an auxiliary equipment which concerns on the modification of 2nd Embodiment of this invention. FIG. 10 is a sectional view taken along the line 10-10 in FIG. 9; It is sectional drawing which showed the single axis robot which concerns on 3rd Embodiment of this invention. It is sectional drawing which showed the expansion-contraction apparatus which concerns on 4th Embodiment of this invention.

(First embodiment)
Hereinafter, a motor with an auxiliary device according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a cross section of the auxiliary device-equipped motor A according to the embodiment. The auxiliary device-equipped motor A is provided adjacent to the motor body 10 having a motor shaft 14 that protrudes to one side (right side in FIG. 1) and serves as an output end, and the other side (left side in FIG. 1) of the motor body 10. The resolver 20 and a cover member 30 that covers the end surface and the upper surface of the other side of the resolver 20 are configured. The motor body 10 is fixed to a cylindrical casing 11, a pair of brackets 12 and 13 provided on both sides, a motor shaft 14 rotatably supported by the brackets 12 and 13, and an outer peripheral surface of the motor shaft 14. The rotor 15, the stator 16 fixed to the inner surface of the casing 11 so as to face the outer peripheral surface of the rotor 15, and lead wires 17 extending from the stator 16. The casing 11 and the bracket 12 constitute a motor casing according to the present invention.

  The casing 11 is mainly formed of a cylindrical body whose inner peripheral surface is formed in a circular shape and whose outer peripheral surface is formed in a rectangular shape, and a lead wire extraction hole 11a is provided in the vicinity of the other end of the upper portion thereof. Is provided. A bracket 12 that closes the casing 11 is formed integrally with the casing 11 on one side of the casing 11 (on the right side in FIG. 1), and a bearing 12 a made of a bearing is provided at the center of the bracket 12. The other end of the casing 11 is open, and a bracket 13 is installed so as to close the opening. In the center of the bracket 13, a bearing 13a made of a bearing is provided. The bracket 13 is formed integrally with a casing 21 that houses a resolver 20 described later.

  The bearing 12a and the bearing 13a are coaxially arranged, and the motor shaft 14 is supported inside a central ring provided in the bearing 12a and the bearing 13a. The motor shaft 14 has both ends projecting outside the brackets 12 and 13 and can be rotated together with the bearing rings of the bearings 12 a and 13 a, and a rotor 15 is provided on the center outer periphery of the portion located inside the casing 11. ing. And the stator 16 is installed in the part facing the rotor 15 in the inner surface of the casing 11 at intervals with the rotor 15. A lead wire 17 extends from the upper end of the other end of the stator 16, and a tip end side of the stator 16 passes through the lead wire extraction hole 11 a and extends to the outside of the casing 11. The stator 16 is provided with a coil. When a current is supplied from the outside to the coil of the stator 16 via the lead wire 17, a varying magnetic field is generated and the rotor 15 rotates together with the motor shaft 14.

  The resolver 20 is installed inside the casing 21 and faces the rotor detection unit 22 provided on the outer periphery of the other end of the motor shaft 14 extending from the motor body 10 and the rotor detection unit 22 on the inner surface of the casing 21. The rotor detection unit 22 is provided at a portion to be spaced apart from the stator detection unit 23 and a lead wire 24 extending from the stator detection unit 23. Like the casing 11, the casing 21 is formed of a cylindrical body whose inner peripheral surface is formed in a circular shape and whose outer peripheral surface is formed in a rectangular shape, but the thickness thereof is larger than the thickness of the casing 11. It is a little thicker. And the magnitude | size of the outer-periphery edge part of the cross section of the casing 21 and the casing 11 is set the same.

  Further, a lead wire extraction hole 21a is provided in the vicinity of the other end (left side in FIG. 1) of the upper portion of the casing 21. The lead wire 24 extends from the stator detector 23 to the outside of the casing 21 through the lead wire extraction hole 21a. The rotor detection unit 22 and the stator detection unit 23 are wound with coils whose winding directions are orthogonal to each other. By supplying current to the coil of the stator detection unit 23 from the outside via the lead wires 24. The rotor detector 22 rotates. The resolver 20 detects the rotation angle of the motor shaft 14 by utilizing the fact that the phase of the output voltage changes as the rotor detector 22 rotates.

  The cover member 30 is formed of a molded body made of a resin material, and covers the other end side of the casing 21 that houses the resolver 20 and a portion from the upper surface center portion of the casing 21 to the upper surface center portion of the casing 11. It is fixed to the casing 21. As shown in FIG. 2, the cover member 30 includes an end surface covering portion 31 and an extension portion 33. The end surface covering portion 31 extends from the portion excluding the substantially square plate-shaped end surface portion 31a and the upper central portion of the outer peripheral edge of the end surface portion 31a (in FIG. 2B, the left and right sides are opposite to those in FIG. 1). And a rectangular tube-shaped frame portion 31b.

  And the screw insertion hole 34 which penetrates the frame-shaped part 31b is formed in the both sides along the lower end edge part of the end surface part 31a, and the both side parts along the upper end edge part vicinity of the end surface part 31a, respectively. The size of the end surface portion 31 a is set slightly larger than the size of the end surface outer peripheral edge portion of the casing 21. Then, the upper center portion of the frame-shaped portion 31b swells upward from the rectangular cylindrical upper wall so that it protrudes upward, and the upper end is inclined so as to move away from the rectangular cylindrical upper wall toward the one side. doing. The upper center portion of the frame-shaped portion 31b is connected to the extension portion 33 on one end side.

  The extension portion 33 extends from one end of the upper central portion of the frame-shaped portion 31b that swells upward from the upper wall of the rectangular cylindrical shape toward the one side, and the auxiliary portion according to the present invention is between the upper surface of the casing 21. The center side in the front-rear direction is composed of a ceiling part that is curved upward so that a space part that constitutes the equipment side pipe line is formed. Further, the extension 33 further extends to the outer peripheral position of the casing 11, and the space between the upper surface of the casing 11 and the motor main body side conduit communicating with the auxiliary equipment side conduit is formed in the front-rear direction. The center side is comprised by the ceiling part which curved upwards.

  A ridge 33a is formed at each of the lower end edge portions on both sides of the extension portion 33. The pair of ridges 33a is formed on one side of the extension portion 33 from a position slightly separated from the end surface covering portion 31 on one side. It extends to the end. In addition, a wall portion 35 having a stepped hole 35 a that is larger on the outer side than on the inner side of the extension portion 33 is formed at the distal end portion of the extension portion 33. In addition, although illustration is abbreviate | omitted, in the upper surface both sides of the casing 11 and the casing 21, the groove part which can engage with a pair of protrusion 33a is formed. For this reason, the cover member 30 can be attached to the casing 21 and the casing 11 by engaging the protrusion 33a with the groove and sliding the cover member 30 from the other end side of the casing 21 toward the one end side. .

  Screw holes are formed in the vicinity of the four corners of the end surface of the casing 21, and the cover member 30 can be fixed to the casing 21 by passing the screws through the screw insertion holes 34 and screwing them into the screw holes. At this time, the lower end edge portion of the cover member 30 is located on the same plane as the bottom surface of the casing 21, and the end surface portion 31 a and the frame portion 31 b surround the periphery between the end surface portion 31 a and the resolver 20. A predetermined space is formed. Further, by attaching the cover member 30 to the casing 21, a motor body side conduit 36 communicating between the extension portion 33 and the upper surface of the casing 21 and between the extension portion 33 and the upper surface of the casing 11 is formed. The tip is opened by the hole 35a.

  A grommet 37 is attached to the peripheral edge portion of the hole portion 35 a in the wall portion 35. The grommet 37 is made of a rubber molded body. In the state shown in FIG. 3, the upper corners on both the left and right sides of the rectangular plate-like body having a shorter length in the height direction than the width and a larger thickness are formed in the holes. It is rounded to match the shape of 35a. A support hole 37 a having two circular shapes is formed so as to penetrate the grommet 37 in the thickness direction, and a notch 37 b is formed from the center of the support hole 37 a to the upper end of the grommet 37. (In FIG. 3 (b), the notch 37b is shown in a slit shape with a width, but there is almost no actual width.) Also, the grommet 37 has both sides and an upper portion along the center in the thickness direction. An engagement groove portion 37c is formed. Moreover, the lead wires 17 and 24 can be assembled | attached to the hole 37a for support from the surrounding surface side via the notch 37b, and the engaging groove part 37c can be engaged with the peripheral part of the hole part 35a.

  The grommet 37 has the engaging groove portion 37c at the peripheral portion of the hole portion 35a in a state where the lead wire 17 extending from the casing 11 and the lead wire 24 extending from the casing 21 are passed through the support hole 37a. By engaging, the lead wire 17 and the lead wire 24 can be fixed to the peripheral edge portion of the hole portion 35a. At this time, the engaging groove portion 37c engages with a step portion on the inner side of the hole portion 35a. Thereby, when the cover member 30 is attached to the casing 21, the front end opening of the motor main body side conduit 36 is sealed. The grommet 37 is bonded to one or both of the lead wires 17 and 24 at a predetermined position with an adhesive. As a result, the lead wires 17 and 24 are also fixed to the motor body 10 in the direction of the motor shaft 14.

  In the motor A with auxiliary equipment configured as described above, when it is necessary to check or maintain the resolver 20, first, the four screws are removed, and the protrusion 33a of the cover member 30 is inserted into the groove portion of the casings 11 and 21. The cover member 30 can be easily removed from the casing 21 by removing the grommet 37 from the hole portion 35a while removing the grommet 37 from above. Then, after inspecting and maintaining the resolver 20, the grommet with the lead wires 17 and 24 assembled is engaged with the hole 35a of the cover member 30, and the protrusion 33a of the cover member 30 is further connected to the casings 11 and 21. The cover member 30 can be easily attached to the casing 21 by engaging with the groove portion. Thereafter, an operation of fixing the cover member 30 to the casing 21 with four screws is performed.

  Since the auxiliary device-equipped motor A according to the present embodiment is configured as described above, the end surface covering portion 31 and the extension portion 33 make it difficult for water and foreign matter to enter the casing 21 and the casing 11. it can. Further, since the lead wires 17 and 24 pass through the motor body side conduit 36 formed between the extension portion 33 and the upper surface of the casing 21 and between the extension portion 33 and the upper surface of the casing 11, 24 is protected, and the lead wires 17 and 24 do not protrude from the casings 11 and 21 and become obstructive. Furthermore, since the lead wires 17 and 24 are fixed to the motor main body 10 via the grommet 37 and the cover member 30 at the tip end portion of the motor main body side pipe line 36, the lead wires 17 and 24 are damaged by vibration or are disturbed by vibration. It will not be. Further, the grommet 37 can be hardly lost when the cover member 30 is attached and detached.

  When the cut 37b is provided on the lower side in FIG. 3B, the grommet 37 is bonded to the peripheral edge of the hole 35a of the cover member 30 so that the lead wires 17 and 24 and the grommet 37 are not bonded. May be. When it is necessary to inspect and maintain the resolver 20, first, the four screws are removed, and the protrusions 33a of the cover member 30 are removed upward from the grooves of the casings 11 and 21, and the cut 37b is passed through. The cover member 30 can be easily detached from the casing 21 by removing the lead wires 17 and 24 from the grommet 37. After inspecting and maintaining the resolver 20, the lead wires 17 and 24 are assembled to the grommet 37 by passing the cut 37b, and the protrusion 33a of the cover member 30 is engaged with the groove portion of the casings 11 and 21. By combining, the cover member 30 can be easily attached to the casing 21.

  Thereafter, an operation of fixing the cover member 30 to the casing 21 with four screws is performed. In this case as well, it is possible to make it difficult for water and foreign matter to enter the casing 21 and the casing 11. The lead wires 17 and 24 are protected by the motor body side conduit 36 formed by the extension 33, and the lead wires 17 and 24 do not protrude from the casings 11 and 21 and become obstructive. Furthermore, since the lead wires 17 and 24 are held by the motor main body 10 through the grommet 37 and the cover member 30 at the tip end portion of the motor main body side pipe line 36, the lead wires 17 and 24 are damaged by vibration or are disturbed by vibration. It will not be. Further, the grommet 37 can be hardly lost when the cover member 30 is attached and detached.

(Second Embodiment)
FIG. 4 shows a cross section of the auxiliary device-equipped motor B according to the second embodiment of the present invention. This motor B with auxiliary equipment is provided with an electromagnetic brake 40 on the other side (left side in FIG. 4) of the casing 21 in the motor A with auxiliary equipment described above, and in place of the cover member 30 described above, a cover member. The cover member 50 having an axial length longer than 30 is used. The other parts of the motor B with auxiliary equipment are the same as the motor A with auxiliary equipment. Therefore, parts other than the electromagnetic brake 40 and the cover member 50 in the motor B with auxiliary equipment are denoted by the same reference numerals and description thereof is omitted.

  The electromagnetic brake 40 includes a substantially cylindrical casing 41 installed on one end side of the casing 21 and a hub 42 provided on one end of the motor shaft 14. The size of the outer peripheral edge in the cross section of the casing 41 is smaller than the size of the outer peripheral edge in the cross section of the casing 21. The casing 41 includes a bracket 41 a having a cylindrical portion and a flat plate portion, and a cylindrical cup-shaped housing 41 b, and a connecting member 39 is interposed between the bracket 41 a and the casing 21.

  A brake lining 43 is provided on the outer periphery of the front end of the hub 42 so as to be movable in the motor axial direction, and a movable iron core 44 is disposed opposite the brake lining 43. The movable iron core 44 is urged by a spring (not shown) to the flat plate portion of the bracket 41a via the brake lining 43, and an electromagnetic coil 45 is installed on one side of the movable iron core. . The electromagnetic coil 45 and the spring are supported by a housing 41b that constitutes the other side of the casing 41. A lead wire 46 extends from the electromagnetic coil 45, and a leading end portion of the lead wire 46 passes through a lead wire lead hole (not shown) provided in the housing 41b, together with the lead wires 17 and 24. The grommet 37 extends through the support hole 37a.

  In the electromagnetic brake 40, when no current is supplied to the electromagnetic coil 45, the movable iron core 44 is pressed against the brake lining 43 by the urging force of the spring, and the brake lining 43 is pressed against the flat plate portion of the bracket 41a. 14 will be unable to rotate. When a current is supplied to the electromagnetic coil 45 from the outside via the lead wire 46, a force that attracts the movable iron core 44 is generated in the electromagnetic coil 45, and the movable iron core 44 resists the urging force of the spring, and the brake lining 43 Get away from. As a result, the motor shaft 14 becomes rotatable. In the present embodiment, the electromagnetic brake 40 is a non-excitation operation type electromagnetic brake, but an excitation operation type electromagnetic brake may be used instead. In that case, when the electromagnetic brake is energized, a braking force for the motor shaft 14 is generated.

  The cover member 50 is fixed to the housing 41b and the connection member 39 so as to cover the outer periphery of the electromagnetic brake 40 and the connection member 39 and the portion from the center of the upper surface of the casing 21 to the center of the upper surface of the casing 11. It is formed in the shape shown in. That is, the cover member 50 includes an end surface covering portion 51 that covers the other end side of the casing 41, a cylindrical outer periphery covering portion 52 that covers the peripheral surface of the casing 41, and an outer peripheral covering portion 53 that covers the peripheral surface of the connecting member 39. The upper portion of the casing 21 extends from the outer periphery covering portion 53, and the extension portion 54 covers the central portion of the upper surface from the other end of the upper surface of the casing 11 to the central portion. The end surface covering portion 51 includes a circular end surface portion 51a and a frame-shaped portion 51b extending from the outer peripheral edge portion of the end surface portion 51a to one side (in FIG. 5B, the left and right sides are opposite to those in FIG. 4). It is configured.

  A screw insertion hole 55 is formed in the central portion in the left and right direction (left and right in FIG. 5D) in the lower portion of the end surface portion 51a. The outer periphery covering portion 52 extends from the frame-like portion 51 b to one side, and includes a cylindrical portion 52 a that covers the other end portion of the casing 41 and a rectangular tube portion 52 b that covers the one end portion of the casing 41. The outer periphery covering portion 53 has a rectangular tube shape continuous from the rectangular tube portion 52b. The cylindrical portion 52a has a cylindrical shape that is continuous from the frame-shaped portion 51b, but only the upper portion 52d rises convexly from the cylindrical portion 52a, and is inclined upward so that the upper end is away from the casing 41 toward the other side. Yes.

  Further, the upper part 52e of the rectangular tube part 52b and the upper part 53b of the continuous outer periphery covering part 53 form a substantially square auxiliary equipment side conduit 56 between the upper surfaces of the casing 41 and the connecting member 39, respectively. The portion 52b bulges in a convex shape, and the cross-section has a convex U shape, and is connected to the upper portion 52d on the other end side and to the extension portion 54 on one end side. The rectangular tube portion 52b and the outer periphery covering portion 53 are formed in a substantially rectangular tube shape covering the one end side portion of the casing 41 and the peripheral surface of the connecting member 39 except for the upper portion 52e and the upper portion 53b. Screw insertion holes 55 are formed on both sides of the upper portion of the rectangular tube portion 52b and the outer periphery covering portion 53, respectively. In addition, a pair of cutout portions 53 c are formed on the bottom surface of the outer periphery covering portion 53 with a space therebetween. A protrusion (not shown) that can be engaged with the notch 53c is formed in a portion of the bottom surface of the connecting member 39 that faces the notch 53c, and the cover member 50 is assembled to the casing 21. In addition, the notch 53c and the protrusion are engaged.

  The extension portion 54 has the same configuration as the extension portion 33 described above, and a wall portion 35 having a stepped hole portion 35a is formed at the tip thereof. A grommet 37 is attached to the hole 35a. Further, protrusions 54 a are formed on the lower edge portions on both sides of the extension portion 54, respectively. In addition, screw holes are respectively formed in the upper side of the other side of the casing 21 and the lower center of the end surface on the other side of the casing 41, and the screws are passed through the screw insertion holes 55 of the cover member 50, respectively. The cover member 50 can be fixed to the casings 21 and 41 by screwing.

  At this time, the outer periphery covering portions 52 and 53 of the cover member 50 cover the outer periphery of the casing 41 and the connecting member 39 including the lower end portion, and the lower end portion is located on the same plane as the bottom surface of the casing 21. In addition, a predetermined space is formed between the end surface portion 51 a and the electromagnetic brake 40. Furthermore, by attaching the cover member 50 to the casings 21 and 41, the auxiliary equipment side conduit 56 communicates with the motor body side conduit 36. In order to facilitate understanding of the configuration of the side surface side of the motor B with auxiliary equipment, FIG. 6 is a cross section taken along line 6-6 in FIG. 4, FIG. 7 is a cross section taken along line 7-7 in FIG. 8-8 cross sections are shown respectively.

  According to the motor B with auxiliary equipment configured in this way, the motor shaft 14 can be rotated by operating the electromagnetic brake 40 as necessary, or the motor shaft 14 can be decelerated or stopped by applying a braking force. Can be. When the cover member 50 is attached to the casings 21 and 41, the grommet 37 is fitted into the hole 35a of the cover member 30 together with the bonded lead wires 17 and 24, or the hole After assembling the lead wires 17 and 24 to the grommet 37 adhered to 35a, the protrusion 54a of the cover member 50 is engaged with the groove portion of the casings 11 and 21, and the notch 52c of the cover member 50 is connected to the casing 41. The cover member 50 is slid by engaging with the protrusion. Conversely, when removing the cover member 50 from the casings 21 and 41, the reverse procedure is taken. Accordingly, the cover member 30 can be attached and detached smoothly. Moreover, the cover member 50 can be attached to an appropriate position. The other operational effects of the motor B with auxiliary equipment are the same as those of the motor A with auxiliary equipment described above.

(Modification)
FIG. 9 shows a motor C with auxiliary equipment as a modification of the motor B with auxiliary equipment according to the second embodiment. In the motor C with auxiliary equipment, the cover member 50 a is attached to the connecting member 39 and the casing 41. In other words, the lower end portion of the connecting member 39 is located on the same plane as the bottom surface of the casing 21, and the lower end portion of the casing 21 and the one end surface of the rectangular tube portion 57 b of the outer peripheral covering portion 57 of the cover member 50 a are connected to the other end of the connecting member 39. It joins to the side end face. The rest of the configuration of the motor C with auxiliary equipment is the same as that of the motor B with auxiliary equipment described above. Accordingly, the same parts are denoted by the same reference numerals and the description thereof is omitted. In addition, the 10-10 cross section of the cover member 50a in the vicinity of the joint surface between the one end surface of the rectangular tube portion 57b of the outer periphery covering portion 57 and the other end surface of the connecting member 39 appears as shown in FIG. The operational effect of the motor C with auxiliary equipment is the same as that of the motor B with auxiliary equipment described above.

(Third embodiment)
FIG. 11 shows a single-axis robot 60 according to the third embodiment of the present invention, and the single-axis robot 60 includes the motor B with auxiliary equipment described above. The single-axis robot 60 extends in the axial direction of the motor B with auxiliary equipment, and has a rail 64 as a bottom member, bracket members 61a and 61b fixed to both ends of the rail 64, and bearings 65a on the bracket members 61a and 61b, respectively. , 65b and a ball screw shaft 62 rotatably supported by a ball screw shaft 62 and a moving table 63 attached to the rail 64 so as to be movable along the rail 64 while the nut member 63a as a component is screwed to the ball screw shaft 62. The cross-sectional shapes are U-shaped, the lower portions are fitted in the grooves on the lower side surfaces of the rail 64, and both ends are removably supported by the bracket members 61a and 61b. The ball screw shaft 62 and the moving table 63 are Side covers 61c and 61d that respectively cover from both sides are provided, and the single-axis robot main body 61 is constituted by these members. It is.

  The casing 11 of the motor main body 10 provided in the motor B with auxiliary equipment is connected and fixed to the bracket member 61a, and the motor B with auxiliary equipment is connected to the other end side (left side in FIG. 11) of the single-axis robot main body 61. Is done. The ball screw shaft 62 passes through the bearing 65a, and the base end portion on the other end side (left side in FIG. 11) is connected to the motor shaft 14 of the motor body 10 of the motor B with auxiliary equipment. Therefore, the ball screw shaft 62 rotates with the rotation of the motor shaft 14, and the moving table 63 moves in the single-axis robot main body 61 along the rail 64 together with the nut member 63 a that moves according to the rotation.

  In this case, by supplying a current to the motor main body 10, the motor main body 10 operates, the ball screw shaft 62 rotates through the motor shaft 14, and the moving table 63 moves. At that time, the resolver 20 detects the rotation angle of the motor shaft 14, and the electromagnetic brake 40 brakes the rotation of the motor shaft 14 as necessary. The operations of the motor body 10, the resolver 20, and the electromagnetic brake 40 are executed by control of a control device (not shown). A tool that can hold a predetermined electronic component or the like is attached to the upper surface of the moving table 63 that extends upward from between the upper ends of the side covers 61c and 61d. By moving the moving table 63, a predetermined electronic component or the like can be conveyed to a predetermined position.

  A plurality of screw holes 64a are provided in the axial direction of the motor shaft 14 on the bottom surface of the rail 64, and the bolts are assembled through the through holes of the installation target, whereby the single-axis robot 60 can be installed on the installation target. Made. In FIG. 11, the lead wires 17, 24, 46 and the extended portion 54 of the cover member 50 are illustrated on the upper side for convenience, but the upper side of the movable table 63 with the upper surface for attaching the tool and the rail 64 serving as the installation surface. The lower side with the bottom surface is avoided, and the side covers 61c and 61d are located on either one side.

  The single-axis robot 60 configured as described above includes the auxiliary device-equipped motor B described above. For this reason, according to the present embodiment, water and foreign matter can be made difficult to enter, and the detachability is improved, and the lead wires 17, 24, 46 protrude to the other end side in the motor axial direction when the single-axis robot 60 is installed. Therefore, it is possible to prevent the lead wires 17, 24, and 46 from interfering with the moving table 63 and the installation. The lead wires 17, 24, and 46 are connected to the motor shaft 14 and the motor. A single unit having a motor with an auxiliary device having a compact configuration along a single-axis robot without projecting outward in a direction orthogonal to the axial direction, and further including a cover member 50 that can protect the lead wires 17, 24, and 46. An axis robot can be obtained.

(Fourth embodiment)
FIG. 12 shows an expansion / contraction device 70 according to the fourth embodiment of the present invention, and the expansion / contraction device 70 includes the motor B with an auxiliary device described above. The expansion / contraction device 70 includes a casing 71 extending in the axial direction of the motor B with auxiliary equipment, a ball screw shaft 72 disposed inside the casing 71, a casing that is screwed into the ball screw shaft 72 and rotated by the ball screw shaft 72. A moving nut 73 that moves within the 71 and a telescopic arm 74 that is connected to the moving nut 73 and moves forward and backward from the inside of the casing 71 to the outside are provided, and these members constitute the main body of the telescopic device.

  The casing 71 is formed in a cylindrical shape on the inner side and a rectangular columnar shape on the outer side. A bearing 75a is installed inside the base end side, and a sliding bearing 75b is installed inside the distal end side. A dovetail groove (not shown) is provided in the axial direction on each surface of the casing 71 whose outer side is a quadrangular prism shape, and a bolt for installation can be assembled from one side end opening of the dovetail groove. In a state where the threaded portion of the bolt penetrates the through hole of the installation target object, the expansion / contraction device 70 can be installed on the installation target object by screwing and tightening a nut to the threaded portion. There are four installation surfaces on the outer periphery of the casing 71.

  Further, the cylindrical inner peripheral surface of the casing 71 is provided with a groove (not shown) in the axial direction, and a projection (not shown) provided on the outer surface of the moving nut 73 is fitted into the groove. The moving nut 73 is prevented from rotating while the moving nut 73 is movable in the axial direction. The casing 11 of the motor body 10 provided in the motor B with auxiliary equipment is connected and fixed to the other end side (the left side in FIG. 11) of the casing 71.

  In addition, a tip portion that is one end of the motor shaft 14 of the motor body 10 provided in the motor B with auxiliary equipment extends to the inside of the casing 71, and a base end portion of the ball screw shaft 72 is a coupling 76. It is connected to the motor shaft 14 via And the coupling 76 is rotatably supported by the bearing 75a. The telescopic arm 74 is formed of a cylindrical body whose tip is closed, and its peripheral surface is supported by a sliding bearing 75b so as to be slidable in the axial direction. A joint 77 for connecting another member to the telescopic arm 74 is provided at the tip of the telescopic arm 74. For this reason, the telescopic arm 74 moves integrally with the movement nut 73 that is prevented from rotating according to the rotation of the ball screw shaft 72, and moves forward and backward from the inside of the casing 71 to the outside. As a result, the axial length of the entire expansion device 70 expands and contracts.

  In this case, by supplying current to the motor main body 10, the motor main body 10 operates to rotate the ball screw shaft 72 via the motor shaft 14 and move the telescopic arm 74. At that time, the resolver 20 detects the rotation angle of the motor shaft 14, and the electromagnetic brake 40 brakes the rotation of the motor shaft 14 as necessary. The operations of the motor body 10, the resolver 20, and the electromagnetic brake 40 are executed by control of a control device (not shown). A predetermined hook member or the like is connected to the joint portion 77, and a predetermined luggage or the like can be moved horizontally or moved up and down by the hook member. The lead wires 17, 24, 46 and the extended portion 54 of the cover member 50 avoid the installation surface used for installation on the installation object among the four installation surfaces on the outer periphery of the casing 71 in the circumferential direction. It is assumed that

  The telescopic device 70 configured as described above includes the motor B with the auxiliary device described above. For this reason, according to the present embodiment, water and foreign matter can be made difficult to enter, the detachability is improved, and the lead wires 17, 24, 46 protrude to the other end side in the motor axial direction when the expansion device 70 is installed. It is possible to prevent the installation length from being increased and the lead wires 17, 24, 46 from interfering with the installation, and the lead wires 17, 24, 46 are moved outward in the direction perpendicular to the axial direction of the motor shaft 14. It is possible to obtain a telescopic device having a motor with an auxiliary device provided with a cover member 50 capable of protecting the lead wires 17, 24, and 46, and having a compact configuration along the telescopic device 70 without protruding.

  Further, the robot according to the present invention is not limited to the above-described embodiments, and can be implemented with appropriate modifications. For example, instead of the resolver 20 provided in the motor A with auxiliary equipment of the first embodiment, the motor with auxiliary equipment is configured using the electromagnetic brake 40 provided in the motor B with auxiliary equipment of the second embodiment. Also good. Further, instead of the motor B with auxiliary equipment provided in the single-axis robot 60 of the third embodiment and the expansion device 70 of the fourth embodiment, the motor A with auxiliary equipment, the motor body 10 and the electromagnetic brake 40 are provided. You may use the motor with an auxiliary equipment provided.

  Furthermore, in each of the above-described embodiments, the casing 13 and the bracket 13 that are integrally formed are used, and the bracket 13 that can be regarded as a part of an auxiliary device for assembly is a casing that is a component of the motor body 10. 11 is removably connected and fixed, but the casing 21 may be a cylindrical vase having a bottom, with only the cylindrical portion or the other end on the left side in each figure closed. In this case, the casing 21 is detachably connected and fixed to a bracket 13 which is separated from the casing 21 and is detachably connected and fixed to the casing 11 and can be regarded as a component of the motor body 10. In this case, the casing 11 and the pair of brackets 12 and 13 constitute the motor casing according to the present invention.

  In the above-described embodiments, the casing 11 and the bracket 12 are integrally formed. However, the cylindrical portion of the casing 11 and the bracket 12 are separated and the bracket 12 can be detached from the casing 11. On the other hand, the bracket 13 separated from the casing 21 may be integrated with the casing 11 as a bottom member of the bottomed cylindrical vase-like casing 11 whose other end is closed.

  Furthermore, the brackets 12 and 13 may be separated from the casings 11 and 21, respectively, and may be made of aluminum on both sides and a cylindrical laminated steel plate disposed in the center. In this case, the portion where the stator 16 is arranged is made of a laminated steel plate, and the other portion is made of an aluminum bracket. Moreover, you may comprise the cover member 30 in 1st Embodiment, and the cover member 50 in 2nd Embodiment with what can also cover the both sides | surfaces and bottom face of the resolver 20. FIG. In this case, it is preferable that at least the bottom surface of the cover member is located on the same plane as the bottom surface of the casing 11.

  Moreover, you may make it the lower end part of the casing 41 and the casing 21 in 2nd Embodiment become the same height. In this case, a portion of the cover member 50 positioned below the casing 41 is omitted so that the lower end portion of the cover member 50 and the lower end portion of the casing 41 are positioned at the same height. Furthermore, in the motor B with an auxiliary device in the second embodiment, auxiliary devices including the resolver 20 and the electromagnetic brake 40 are arranged in the direction of the motor shaft 14 so that the resolver 20 is on the motor body 10 side. You may arrange in the motor shaft 14 direction so that it may become the motor main body 10 side. In this case, the cover member 50 is detachably connected and fixed to the casing 21.

  Further, in the second embodiment of FIG. 4, the outer peripheral covering portions 52 and 53 of the cover member 50 are formed in a substantially square cylindrical shape covering the peripheral surfaces of the casing 41 and the connecting member 39, and one end of the outer peripheral covering portion 53 is formed. Are joined to the casing 21. The casing 21 is a separate part of the cylindrical portion and the bracket 13, and the bracket 13 is a component of the motor body 10, while the outer peripheral covering portion 53 is extended to one side and the outer diameter is increased. It is also possible to cover the periphery of the casing 21 formed of a cylindrical portion having a small diameter, and to join one end of the outer periphery covering portion 53 to the bracket 13 that is a component of the motor body 10.

  In this case, screw holes are respectively formed on both sides of the upper side of the other side of the bracket 13 and the lower center of the end surface on the other side of the casing 41. The cover member 50 is fixed to the casing 41 and the bracket 13 by being screwed into the holes, respectively. Furthermore, the configuration of other parts of the motor with auxiliary equipment according to the present invention can be changed as appropriate within the technical scope of the present invention.

  DESCRIPTION OF SYMBOLS 10 ... Motor main body 11, 21, 41, 61, 71 ... Casing, 12, 13 ... Bracket, 14 ... Motor shaft, 15 ... Rotor, 16 ... Stator, 17, 24, 46 ... Lead wire, 20 ... Resolver, 22 ... rotor detection part, 23 ... stator detection part, 30, 50, 50a ... cover member, 31, 51 ... end face covering part, 33, 54 ... extension part, 35a ... hole part, 36 ... motor main body side pipe line, 37 ... Grommet, 40 ... Electromagnetic brake, 43 ... Brake lining, 44 ... Movable iron core, 56 ... Auxiliary equipment side pipe, 60 ... Single axis robot, 63 ... Moving table, 70 ... Telescopic device, 73 ... Mobile nut, 74 ... Telescopic arm , A, B, C: Motor with auxiliary equipment.

Claims (8)

A rotor fixed to the outer peripheral surface of the motor shaft; a stator installed opposite to the outer peripheral surface of the rotor; and at least one end of the motor shaft with both ends of the motor shaft protruding outward A motor main body including a motor casing that rotatably supports the stator and a motor lead wire that is connected to the stator and has a tip portion extending outside the motor casing;
Auxiliary equipment casing installed on the other side of the motor body in the motor axis direction, a rotating member installed inside the auxiliary equipment casing and connected and fixed to the other end of the motor shaft, and the rotation An auxiliary device including a stationary member that is installed opposite to the member and is fixed to the auxiliary device casing; and a stationary member lead wire that extends outward from the stationary member;
In an auxiliary equipment motor comprising a cover member that covers the auxiliary equipment,
The cover member;
An end face covering portion covering the end face on the other side of the auxiliary device;
Covering at least a part of the outer peripheral surface of the auxiliary device in a state in which an auxiliary device side conduit is formed between the outer peripheral surface of the auxiliary device and extending to the outer peripheral side of the motor casing, In between, it is constituted by an extension part that forms a motor main body side pipe line that communicates with the auxiliary equipment side pipe line and has an open end.
The cover member is detachably connected and fixed to the auxiliary device or the motor main body, and the motor lead wire and the stationary member lead wire are passed through at least the motor main body side pipe line of the both pipe lines. A motor with auxiliary equipment, which is led out from the opening.   2. The motor with auxiliary equipment according to claim 1, wherein at least a part of a portion of the cover member orthogonal to the axial direction of the motor with auxiliary equipment does not protrude outward from the outer peripheral surface of the motor casing.   The said auxiliary | assistant apparatus was comprised with the resolver provided with the rotor detection part as the said rotation member, the stator detection part as the said stationary member, and the lead wire for resolvers as the said lead wire for stationary members. A motor with auxiliary equipment described in 1.   The said auxiliary | assistant apparatus was comprised with the electromagnetic brake provided with the brake lining as said rotating member, the braking member as said stationary member, and the electromagnetic brake lead wire as said stationary member lead wire. A motor with auxiliary equipment described in 1.   The auxiliary device includes a resolver including a rotor detection unit as the rotating member, a stator detection unit as the stationary member, and a resolver lead wire as the stationary member lead wire, and a brake as the rotating member. The auxiliary device according to claim 1 or 2, wherein an electromagnetic brake including a lining, a braking member as the stationary member, and an electromagnetic brake lead wire as the stationary member lead wire is arranged in the axial direction. motor.   The grommet which consists of an elastic member for hold | maintaining the said lead wire for motors, and the said lead wire for stationary members was installed in the opening edge part of the said motor main body side pipe line. A motor with auxiliary equipment described in 1. A single-axis robot comprising the motor with an auxiliary device according to any one of claims 1 to 6,
A ball screw shaft connected to the other side of the motor shaft, a robot casing for housing the ball screw shaft in a state where both ends of the ball screw shaft are rotatably supported, and a state screwed to the ball screw shaft And a moving table that is provided in the robot casing and is movable in the robot casing by the rotation of the ball screw shaft, and the robot casing is fixed to another member on the outer periphery of the single-axis robot. In the state where the cover member is detachably connected and fixed to the auxiliary device or the motor main body, and the extension portion has a position of the movable table in the outer peripheral direction around the motor shaft. A single-axis robot, wherein the single-axis robot is configured to avoid a position of the installation portion. A telescopic device comprising the motor with an auxiliary device according to any one of claims 1 to 6,
A ball screw shaft connected to the other side of the motor shaft, a moving nut screwed into the ball screw, an extendable arm connected to the moving nut and extending in a direction opposite to the motor shaft, and the ball screw shaft A ball screw shaft casing that rotatably supports the motor shaft side end and slidably supports the telescopic arm and moves forward and backward with respect to the outside,
The ball screw shaft casing includes an installation portion for fixing the expansion device to another member on an outer periphery, and the cover member is detachably connected and fixed to the auxiliary device or the motor body. An expansion / contraction device, wherein the portion is configured to avoid the position of the installation portion in the outer circumferential direction around the motor shaft.

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