JP6494257B2 - Actuator, drive device - Google Patents

Description

  The present invention relates to an actuator and a drive device including a torque sensor that detects a drive torque of a driven body using a motor such as an electric motor as a drive source.

  There is a torque measuring device as a driving device driven by a motor. Examples of torque measuring devices include an electric tightening machine and an electric screwdriver. There are a static torque calibrating device and a dynamic torque calibrating device as a torque calibrating device for calibrating torque of a torque measuring device.

  A torque sensor such as a strain gauge is attached to a motor-driven torque measuring device such as an electric clamping machine, and a torque value is obtained based on the detected strain. The calibration of the torque value in a motor-driven torque measuring device is generally performed by a dynamic torque calibration device.

  Calibration by the dynamic torque calibration device is performed by comparing the value measured by the dynamic torque calibration device with the torque value detected by the motor-driven torque measurement device while the motor of the torque measurement device is actually driven. Is called.

  By the way, the dynamic torque calibration device is very expensive compared to the static torque calibration device. For this reason, if the torque measurement device driven by the motor can be calibrated by the static torque calibration device, the calibration can be performed at low cost. For example, the static torque calibrating apparatus includes an input shaft portion with which an output shaft portion of a torque wrench is engaged, a sensor that detects strain of the input shaft portion, and a calculation unit that obtains a torque value based on the strain detected by the sensor. And a display unit for displaying the torque value obtained by the calculation unit. Then, the torque wrench is turned, and the torque wrench is calibrated based on the measured torque value of the static torque calibrator when the torque limiter configured by the toggle mechanism of the torque wrench is operated. That is, the torque value set in the torque limiter of the torque wrench is compared with the measured torque value of the static torque calibration device.

  Therefore, when a motor-driven torque measuring device having a torque sensor is calibrated by the static torque calibrating device, the calibration is performed without driving the motor. For this reason, it is necessary for the torque measurement device driven by the motor to cause the torque sensor to detect strain by the rotation of the output shaft during calibration.

  In addition, the motor-driven torque measuring device has a motor fixed to the device housing, the output shaft of the motor is connected to, for example, a planetary gear reducer, and a socket or screw that engages a bolt with the output shaft of the planetary gear reducer. Matching bits are concatenated. The torque sensor is composed of a strain gauge attached to the strain-generating body using a member disposed between the ring gear of the planetary gear reducer and the device housing as a strain-generating body (Patent Document 1).

  For example, when a bolt is tightened by driving a motor, a reaction force (R1) acts on the ring gear, and a reaction force (R2) of the motor acts on the device housing. Accordingly, the reaction force (R1) and the motor reaction force (R2) act on the strain body. Then, the strain gauge detects the strain generated in the strain generating body according to the sum (R3) of the reaction force R1 and the reaction force R2.

  In such a motor-driven torque measuring device, the torque when the bolt is actually tightened is based on the reaction force R3.

  However, when a motor-driven torque measuring device equipped with a torque sensor is calibrated by a static torque calibration device, the motor is not driven, and the torque value indicated by the motor-driven torque measuring device is based only on the reaction force R1. That is, it will not match the actual situation.

JP 2008-110414 A

  An object of the present invention is to provide a drive device such as an actuator capable of appropriately performing torque calibration by a static torque calibration device, a torque measurement device driven by a motor, and the like.

A first configuration of an actuator that realizes an object of the present invention includes a main body casing, a motor casing, a power transmission shaft that projects from the motor casing and outputs a driving force for rotationally driving a driven body, and the motor A motor fixing portion fixed to the casing; a driving motor having a driving force input from the power transmission shaft; decelerating the input driving force and outputting the driving force to the driven body; and A first transmission unit connected to the driving force transmission unit and fixed to the motor fixing unit, the first reaction force received by the driving force transmission unit by outputting the driving force to the driven body. converting mechanism first reaction force of the first rotating direction is transmitted from the driving force transmitting portion, the driving motor is the motor casing is subjected by outputting a driving force of the first rotational direction 2 reaction force is transmitted from the motor casing through the motor fixing portion, a second transmission portion is fixed to the main body casing, one end is fixed to the first transmission portion and the other An elastic deformation body whose end is fixed to the second transmission portion, and a strain gauge that detects a strain of the elastic deformation body corresponding to the torque value of the actuator.

  According to a second configuration of the actuator for realizing the object of the present invention, in the first configuration, the driving force transmitting portion can apply a driving force from the outside of the main body casing.

According to a third configuration of the actuator for realizing the object of the present invention, in any one of the above configurations, the driving force transmission unit includes a planetary gear planetary mechanism, and the first reaction force is a ring gear of the gear planetary mechanism. To the first transmission unit.

According to a fourth configuration of the actuator for realizing the object of the present invention, in the third configuration, the planetary gear mechanism , the first transmission unit, the second transmission unit, the elastic deformation body, And the strain gauge is arranged.

  According to a fifth configuration of the actuator for realizing the object of the present invention, in any one of the above-described configurations, the main body casing and the drive motor are arranged in series in the front-rear direction.

According to a sixth configuration of the actuator that realizes the object of the present invention, in the fifth configuration described above, the motor fixing portion includes a fixed substrate fixed to a front portion of the drive motor, and a front extending from the fixed substrate. out, and having a motor fixed shaft which is fixed to the drive motor to the first transfer portion SL before disposed in front of the drive motor.

Seventh structure of the actuator to achieve the object of the present invention, in the sixth configuration of the above, the motor fixing shaft, have been formed in the hollow shaft, the driving force to the driving force transmitting unit from the drive motor The power transmission shaft for transmission is inserted with a gap.

Eighth configuration of the actuator to achieve the object of the present invention, in the construction described above, the driving force transmitting unit, the output shaft is characterized in that out collision forward from the front end of the main body casing.

  According to a ninth configuration of the actuator for realizing the object of the present invention, in any one of the above configurations, the drive motor is an electric motor.

  A first configuration of a driving device that realizes the object of the present invention includes an actuator having any one of the above-described configurations and an exterior housing that houses the actuator, and the actuator includes only a driving force transmission unit. It is fixed to the exterior housing.

  According to a second configuration of the drive device that realizes the object of the present invention, in the first configuration of the drive device, the drive motor of the actuator is opposite to the outer housing by a bracket provided in the outer housing. It is characterized by being supported in a state where no force acts.

  According to a third configuration of the drive device that realizes the object of the present invention, when the drive motor of the actuator is an electric motor in any configuration of the drive device, the outer housing is a power source of the electric motor. A battery is mounted.

  According to a fourth configuration of the drive device that realizes the object of the present invention, in any one of the drive devices described above, the exterior housing has a straight shape or a pistol shape.

  According to a fifth configuration of the drive device that realizes the object of the present invention, in the fourth configuration of the drive device, the actuator is provided with an L-shaped head portion at a distal end portion.

  According to a sixth configuration of the drive device that realizes the object of the present invention, in any of the configurations of the drive device, the exterior housing can be applied with a drive force from the outside of the main body casing to the drive force transmission portion. The hole part to be formed is formed.

  According to a seventh configuration of the drive device that realizes the object of the present invention, in any one of the drive devices, the drive device is any one of a torque measurement device, a power transmission device, a robot arm, and a manipulator. It is characterized by.

  An eighth configuration of a drive device that realizes the object of the present invention is to obtain a torque value based on a detection value detected by the torque sensor in any of the configurations of the drive device, And a display portion for displaying the torque value.

  According to the actuator of the present invention, for example, when the driven body is driven by the electric motor via the driving force transmission unit, the torque sensor detects the torque value including the motor reaction force. The torque value applied to the body can be detected.

  When the torque of the actuator is calibrated by the static torque calibrating device, a load can be simultaneously applied to the torque sensor and the static torque calibrating device by rotating the power transmission unit by an external operation.

  According to the invention of claim 3, since the reaction force of the load torque is generated in the ring gear of the gear planetary mechanism, the reaction force can be easily transmitted to the first transmission portion of the torque sensor.

  According to the fourth and fifth aspects of the invention, the actuator can be made compact.

  According to the invention which concerns on Claim 6, the motor reaction force of a drive motor can be transmitted to the 1st transmission part of a torque sensor, without being transmitted to an exterior casing.

  According to the invention which concerns on Claim 7, the driving force of a drive motor can be transmitted to a power transmission part via a power transmission shaft using a motor fixed shaft, and an actuator can be made compact.

  According to the invention which concerns on Claim 8, the output of an actuator can be taken out with the shaft member called an output shaft.

  According to the ninth aspect of the invention, since the power cord of the electric motor hardly transmits the motor reaction force to the main body casing, the motor reaction force can be easily managed.

  Examples of the driving device of the present invention include a torque measuring device such as a nut runner and a bolt tightening device, a power transmission device, a robot arm, a manipulator, and the like. Since the torque value of the driven body measured by these devices takes into account the motor reaction force, for example, the tightening torque for driving the actual driven body can be detected. And the torque calibration by a static torque calibration apparatus can also be performed easily. Further, the actuator only fixes the driving force transmission part to the exterior housing, and there is no need to fix the drive motor to the exterior housing.

  According to the invention which concerns on Claim 11, a drive motor can be stably hold | maintained in an exterior housing.

  According to the invention which concerns on Claim 12, it is applicable also to a cordless drive device.

  According to the invention which concerns on Claim 13, 14, it can apply to the drive equipment of various external appearance shapes.

  According to the invention which concerns on Claim 15, the torque calibration by a static torque calibration apparatus can be performed easily.

  The invention according to claim 16 can be applied to a wide range of devices.

  According to the invention of claim 17, the detected torque value can be confirmed on the display unit.

1 is a cross-sectional view of an actuator showing a first embodiment of the present invention. The exploded view of the torque sensor of the actuator shown in FIG. (A) is an AA arrow view of FIG. 2, (b) is a BB arrow view of FIG. Sectional drawing which shows the assembly state of the torque sensor shown in FIG. Sectional drawing of the straight type electric clamping machine which shows 2nd Embodiment of this invention. Sectional drawing of the pistol type electric clamping machine which shows 3rd Embodiment of this invention. Sectional drawing of the angle type electric clamping machine which shows 4th Embodiment of this invention.

  Hereinafter, the present invention will be described in detail based on embodiments shown in the drawings.

First Embodiment FIG. 1 is a sectional view of an actuator showing a first embodiment of the present invention, FIG. 2 is an exploded view of a torque sensor of the actuator shown in FIG. 1, and FIG. 3 (a) is an AA arrow view of FIG. FIG. 3B is a sectional view taken along the line BB in FIG. 2, and FIG. 4 is a cross-sectional view showing the assembled state of the torque sensor shown in FIG.

  The actuator 10 of the present embodiment includes an electric motor 1, a power transmission unit 3, a torque sensor 5, and a motor fixing unit 7 that fixes a casing 11 of the electric motor 1 to the torque sensor 5.

  The power transmission unit 3 is disposed on the front portion of the electric motor 1 with the torque sensor 5 interposed therebetween. The central axis of the electric motor 1, the central axis of the power transmission unit 3, and the central axis of the torque sensor 5 are arranged on the same axis.

  The electric motor 1 is, for example, a DC brushless motor, and a motor shaft 12 is spent on the tip side of a cylindrical motor casing 11. In the present embodiment, a mounting portion 13 is provided at the front end portion of the motor casing 11. The attachment portion 13 is formed with a plurality of engaging recesses 14 formed in a concave shape.

  The power transmission unit 3 includes a main body casing 31, a planetary gear reducer 32, and an output shaft unit 33. In the main body casing 31, a planetary gear reducer 32, a torque sensor 5, and a power transmission shaft 35 are arranged. The front portion of the output shaft portion 33 is spent forward from the front end of the main body casing 31.

  The planetary gear reducer 32 is disposed in front of the torque sensor 5. The torque sensor 5 is disposed between the planetary gear reducer 32 and the electric motor 1.

  The planetary gear speed reducer 32 is capable of rotating a cylindrical ring gear 322 having inner teeth 321 on the inner peripheral surface, a plurality of planet gears 324 meshing with the inner teeth 321 and the sun gear 323, and a plurality of planet gears 324. A carrier (cage) 326 having a support shaft 325 for supporting is provided. The plurality of planetary gears 324 rotate while revolving around the sun gear 323. The carrier 326 is provided with an output shaft 33 coaxially with the axial center line of the planetary gear speed reducer 32. The sun gear 323 is formed at the tip of the power transmission shaft 35.

  A first through hole 331 is formed in the output shaft 33 in a direction perpendicular to the axial direction at a portion existing in the main body casing 31. Further, the ring gear 322 is formed with a second through hole 327 that coincides with the first through hole 331 in the axial direction and in a direction orthogonal to the axial direction. For example, a coupler 39 is attached to the tip of the output shaft 33, and a socket (not shown) or the like is detachably attached.

  Further, the body casing 31 is formed with a third through hole 311 that coincides with the first through hole 331 and the second through hole 327 in the axial direction and in a direction orthogonal to the axial direction. In the present embodiment, the inner diameter of the third through hole 311 is larger than the inner diameters of the first through hole 331 and the second through hole 327.

  In the present embodiment, the front end of the ring gear 322 extends to the front of the planetary gear 324 in the axial direction, and a second through hole 327 is formed in the extended portion. The rear end of the ring gear 322 extends to the rear of the planetary gear 324 in the axial direction, and an internal tooth 321 is formed up to the rear fitting portion 322b which is the extended rear portion.

  As shown in FIGS. 2 to 4, the torque sensor 5 includes a strain generating body 51 and a strain gauge 52.

  The strain body 51 includes a reaction force transmission portion 511 formed in a disk shape, a reaction force receiving portion 512 formed in a disk shape, and a pair of elastic deformation bodies 513a and 513b that are elastically deformed. The strain gauge 52 is affixed to each elastic deformation body 513a, 513b.

  The reaction force transmitting portion 511 and the reaction force receiving portion 512 are disposed to face each other along the axial direction. The reaction force transmission portion 511 is formed with a screw hole 511a penetrating in the axial direction at the center of the shaft. The reaction force transmitting portion 511 is fitted to the rear fitting portion 322c of the ring gear 322. A gear portion 511b that meshes with the internal teeth 321 of the rear fitting portion 322c is formed on the outer peripheral portion of the reaction force transmission portion 511. The reaction force transmission part 511 is engaged with the rear fitting part 322c of the ring gear 322, so that the internal teeth 321 and the gear part 511b are engaged with each other, and the ring gear 322 is integrally coupled around the axis.

  A hole 511c is formed in the reaction force transmission portion 511 from the outer peripheral surface toward the center of the shaft. At the rear end of the ring gear 322, there is formed a screw hole 322a where the hole 511c of the reaction force transmitting portion 511 faces, the stopper screw 322b is screwed into the screw hole 322a, and the tip of the stopper screw 322b is the hole. 511c. For this reason, the reaction force transmission portion 511 is prevented from coming out rearward in the axial direction by the stopper screw 322b. Further, a bearing 36 is disposed between the outer periphery of the reaction force transmitting portion 511 and the inner peripheral surface of the main body casing 31. The bearing 36 supports the planetary gear speed reducer 32 and prevents the tightening reaction force transmitted to the ring gear 322 from being transmitted to the main body casing 31.

  A screw portion 71 a formed at the tip of the motor fixing shaft 71 of the motor fixing portion 7 is screwed to the screw hole 511 a of the reaction force transmitting portion 511. A motor reaction force of the electric motor 1 is transmitted to the motor fixed shaft 71.

  The reaction force receiving portion 512 is inserted into the rear end portion of the main body casing 31. The reaction force receiving portion 512 is fixed to the rear end portion of the main body casing 31 by a fixing screw 37. The fixing screw 37 is screwed into a screw hole 512 a formed in the reaction force receiving portion 512.

  In the reaction force receiving portion 512, a first shaft hole portion 512b and a second shaft hole portion 512c having an inner diameter larger than the inner diameter of the first shaft hole portion 512b are formed around the central axis. The inner diameter of the first shaft hole portion 512b is formed larger than the outer diameter of the motor fixed shaft 71, and the motor fixed shaft 71 and the reaction force receiving portion 512 are held in a non-contact state. Therefore, the motor reaction force applied to the motor fixing shaft 71 is prevented from being transmitted to the reaction force receiving portion 512.

  A bearing 38 is attached to the second shaft hole portion 512c. The bearing 38 includes a motor fixed shaft 71 so as to support the electric motor 1 and prevent the motor reaction force of the electric motor 1 from being transmitted to the reaction force receiving portion 512.

  The pair of elastic deformable bodies 513a and 513b are fixedly disposed between the reaction force transmitting portion 511 and the reaction force receiving portion 512. In the present embodiment, the elastic deformable body 513a, the elastic deformable body 513b, the reaction force transmitting portion 511, and the reaction force receiving portion 512 are integrally formed of a metal such as aluminum.

  The pair of elastic deformable bodies 513a and 513b are formed in a rectangular flat plate shape with a small thickness, and are disposed to face each other symmetrically about the rotation center axis. The pair of elastic deformable bodies 513a and 513b are arranged in the direction perpendicular to the radial direction in the plate thickness direction. Further, the pair of elastic deformable bodies 513 a and 513 b are arranged at positions where they do not touch the motor fixing shaft 71 inserted through the strain generating body 5.

  In the present embodiment, in the strain generating body 51, the reaction force transmission portion 511 is fixed to the rear end portion of the ring gear 322, and the reaction force receiving portion 512 is fixed to the rear end portion of the main body casing 31. When a load, for example, a tightening force is applied to the output shaft 33 while the ring gear 322 is fixed around the shaft, the planetary gear speed reducer 32 generates a tightening reaction force (R1) according to the tightening force that is the load. It is transmitted to the ring gear 322.

  In the present embodiment, the ring gear 322 is fixed to the main body casing 31 via the strain body 51. Therefore, the tightening reaction force is transmitted to the reaction force transmission portion 511 of the strain body 51 via the ring gear 322. In the strain body 51, the reaction force receiving portion 512 is fixed to the main body casing 31, so that the pair of elastic deformation bodies 513a and 513b are torsionally deformed. If the rotation direction of the motor shaft 12 of the electric motor 1 is a clockwise direction (hereinafter referred to as a positive rotation direction), the output shaft 33 of the planetary gear speed reducer 32 also rotates in the positive rotation direction. Further, since the rotational force in the forward rotation direction is also applied to the ring gear 322 of the planetary gear speed reducer 32, the direction of the tightening reaction force (R1) is the reverse rotation direction that is opposite to the forward rotation direction.

  The motor fixing part 7 has a motor fixing shaft 71 and a motor mounting part 72. The motor fixing shaft 71 is formed hollow, and the power transmission shaft 35 penetrates the shaft hole 71b. The motor attachment portion 72 forms a through-hole portion 721 and a plurality of engagement claw portions 722 on a disk-shaped substrate 720. A motor fixing shaft 71 is fixed to the front surface (the surface opposite to the electric motor 1) of the substrate 720. The motor fixing shaft 71 is attached with the through hole 721 and the shaft center aligned. The power transmission shaft 35 disposed in the shaft hole portion 71 of the motor fixed shaft 71 has a rear end portion connected to the motor shaft 12 of the electric motor 1. When the motor shaft 12 of the electric motor 1 rotates in the forward direction, the power transmission shaft 35 rotates in the forward rotation direction, and the sun gear 323 rotates in the forward rotation direction.

  In the motor attachment portion 72, the engagement claw portion 722 of the substrate 720 is engaged with each engagement recess 14 of the attachment portion 13 fixed to the front end portion of the motor casing 11. When the engaging claw portion 722 of the substrate 720 is engaged with each engaging concave portion 14 of the attachment portion 13, the motor attachment portion 72 and the electric motor 1 are integrated around the axis. In order to integrate the electric motor 1 in the axial direction with respect to the base 720 of the motor mounting portion 72, for example, the engaging claw portion 722 may be fixed to the engaging recess 14 with a screw.

  Further, as shown in FIG. 1, a cylindrical tightening portion 723 may be provided instead of the engagement claw portion 722 of the substrate 720. The tightening portion 723 is formed with a thread portion on the outer peripheral portion, and the rear end portion 723a of the tightening portion 723 is a tapered surface. A tightening nut portion 724 is screwed into the tightening portion 723. The tightening nut portion 724 is formed with a threaded portion 724a and a concave surface portion 724b fitted to the tapered surface of the rear end portion 723a on the inner peripheral portion.

  When the tightening nut portion 724 is screwed into the tightening portion 723, as the concave surface portion 724b moves forward, it slides into contact with the tapered surface of the rear end portion 723a, and the rear end portion 723a is tightened. Are integrated in the axial direction and around the axis.

  The motor fixing unit 7 supports the motor casing 11 of the electric motor 1 with respect to the torque sensor 5. Specifically, the distal end portion of the motor fixing shaft 71 is fixed to the reaction force transmission portion 511 of the strain body 51. Therefore, the electric motor 1 is supported by the reaction force transmission portion 511 of the torque sensor 5, and the motor shaft 12 of the electric motor 1 is connected to the output shaft 33 of the planetary gear reducer 32. The electric motor 1 is not fixed to the main body casing 31.

The motor fixing shaft 71 is configured such that the screw portion 71a at the tip end is screw-coupled to the screw hole 511a of the reaction force transmission portion 511 (around the right-hand screw) so that the motor reaction force (R2) in the reverse rotation direction is applied to the reaction force transmission portion 511. Communicate directly to.

The reaction force transmitting portion 511 of the strain generating body 51, a reaction force tightening of the reverse rotation direction (R1), in the reverse rotational direction motor reaction force (R2) is applied. In general, the motor reaction force R2 is much smaller than the tightening reaction force R1. That is, when the electric motor 1 is driven to tighten, for example, a bolt or the like, a reaction force of the sum of the reaction force R1 and the reaction force R2 (R1 + R2) is applied to the reaction force transmission portion 511 of the strain generating body 51.

Therefore, the measured value (torque value) detected and displayed by the strain gauge 52 of the torque sensor 5 is based on the sum of the reaction force R1 and the reaction force R2. If the casing 11 of the electric motor 1 is fixed to the main body casing 31 as is generally performed, a reaction force (R2) in the reverse rotation direction is applied to the reaction force receiving portion 512 of the strain generating body 51. Then, the pair of elastic deformable bodies 513a and 513b of the strain generating body 51 is elastically deformed based on a reaction force obtained by subtracting the reaction force R2 from the reaction force R1. For this reason, a value obtained by subtracting the torque value corresponding to the reaction force R2 from the tightening torque value for actual tightening is displayed.

  Next, a case where the torque value of the actuator 10 is calibrated using a static torque calibration device will be described. Although a detailed description of the static torque calibration device is omitted, the output shaft 33 of the actuator 10 is engaged with an input shaft of a static torque calibration device (not shown) using a socket or the like (not shown). In that case, the actuator 10 is supported by the support part of a static torque calibration apparatus. Note that the electric motor 1 is not energized during torque calibration by static torque calibration.

  In static torque calibration, the rod-shaped adjusting member 40 is moved from the third through hole 311 of the main body casing 31 to the ring gear 322 in order to rotate the output shaft 33 and simultaneously apply a torsion torque to the strain generating body 51 of the torque sensor 5. The second through hole 327 is inserted into the first through hole 331 of the output shaft 33. Then, the adjustment member 40 is rotated in the forward rotation direction. The inner diameter of the first through hole 331 and the inner diameter of the second through hole 327 are formed to be equal to the outer diameter of the adjustment member 40, and the adjustment member 40 is inserted into the first through hole 331 and the second through hole 327 without backlash.

  The torsional rigidity of the strain generating body 51 is very high, and the input shaft of the static torque calibrating device is also very high in rigidity. Therefore, the angle at which the output shaft 33 is actually rotated is slight. Moreover, since the internal diameter of the 3rd through-hole 311 is larger than the outer diameter of the adjustment member 40, there is room which can rotate the adjustment member 40 fully for a measurement.

  When the adjustment member 40 is rotated around the rotation axis, a rotational force is applied to the output shaft 33, and a torsional stress is generated on the input shaft of the static torque calibration device. The static torque calibration device measures the torsional stress of the input shaft, obtains the torque value, and displays the obtained torque value on the display unit.

  On the other hand, when the adjustment member 40 is rotated around the rotation axis, a rotational force around the rotation axis is applied to the reaction force transmitting portion 511 of the strain generating body 51 via the ring gear 322.

  Accordingly, the torsional strain generated in the input shaft of the static torque calibrating device and the torsional strain generated in the strain generating body 51 due to the rotation by the adjusting member 40 are generated under the same conditions. The torque value can be calibrated with an automatic torque calibration device. In the actuator 10, the torque sensor 5 measures the torque value including the motor reaction force of the electric motor 1, so that the actual tightening torque value and the measured torque value coincide.

  In the actuator 10 of the above-described embodiment, the torque sensor 5 is not limited to the configuration shown in FIG. 2-5, and the sum of the reaction force of the tightening torque and the motor reaction force is applied to the strain generating body. Any configuration can be used.

  Moreover, although the actuator 10 is configured to have one planetary gear speed reducer, it may have a configuration of two or more stages, and may not have a speed reducer.

Second Embodiment FIG. 5 shows a second embodiment of the present invention.

  FIG. 5 is a cross-sectional view of a straight type electric clamping machine, which uses the actuator 10 shown in FIG.

  In the straight type electric clamping machine 60 shown in FIG. 5, the actuator 10 is disposed in the outer housing 61. The actuator 10 is fixed to the outer housing 61 so that the body case 31 cannot move around the rotation axis and in the rotation axis direction. Only the driving force transmission unit 3 of the actuator 10 is fixed to the exterior housing 61. However, the electric motor 1 may not be fixed around the rotation axis with respect to the outer housing 61 but may be supported by the support bracket 62 so that the motor reaction force is not transmitted to the outer housing 61.

  A compartment 611 in which a drive circuit portion (not shown) is disposed is formed at the rear end portion of the exterior housing 61. A terminal section 64 to which a power cord 63 and a communication line are connected is attached to the ward room 611. A trigger switch 65 is provided at the front portion of the exterior housing 61. In the compartment 611, a rotation adjustment switch 66 for adjusting the rotation speed is arranged. In addition, a display unit (not shown) is arranged on the exterior housing 61, and a torque value detected by the torque sensor 5 is displayed.

  The power cord 15 of the electric motor 1 is connected to the terminal portion 64 through a through hole 613 formed in the wall portion 612 of the compartment 611. The inner diameter of the through hole 613 is larger than the outer diameter of the power cord 15, The motor reaction force is prevented from being transmitted to the exterior housing 61 via the power cord 15.

  The exterior housing 61 is formed with a hole (not shown) into which the adjustment member 40 is inserted.

  Although the present embodiment has been described as a straight type electric clamping machine as a torque measuring device for tightening a bolt and a nut by attaching a socket (not shown) to the coupler 39, an electric tool such as an electric drill, a power transmission device, etc. It is also good.

Third Embodiment FIG. 6 shows a third embodiment.

  FIG. 6 is a cross-sectional view of a pistol type electric clamping machine, which uses the actuator 10 shown in FIG.

  A pistol type electric clamping machine 80 shown in FIG. 6 includes a first exterior housing 81 and a second exterior housing 82. The second outer housing 82 is disposed at a substantially right angle with respect to the first outer housing 81.

  The actuator 10 is disposed in the first exterior housing 81. The actuator 10 is fixed to the first exterior housing 81 such that the main body case 31 cannot move around the rotation axis and in the rotation axis direction. However, the electric motor 1 is not fixed around the rotation axis with respect to the first exterior housing 81 but is supported by the support bracket 83 so that the motor reaction force is not transmitted to the first exterior housing 81. The first exterior housing 81 is formed with an insertion hole (not shown) into which the adjustment member 40 is inserted.

  The first exterior housing 81 is provided with a rotation adjustment switch 84 that adjusts the rotational speed of the electric motor 1. In addition, a display unit (not shown) is arranged on the first exterior housing 81, and a torque value detected by the torque sensor 5 is displayed.

  A trigger switch 85 is disposed above the second exterior housing 82, and a battery 86 is replaceably disposed at the lower end. A drive circuit unit 87 is disposed below the second exterior housing 82.

  The actuator 10 shown in FIG. 1 can be easily assembled to the pistol type electric clamping machine of the present embodiment, and appropriate torque calibration can be realized by a static torque calibration device.

  Although the present embodiment has been described as a straight type electric clamping machine as a torque measuring device for tightening a bolt and a nut by attaching a socket (not shown) to the coupler 39, an electric tool such as an electric drill, a power transmission device, etc. It is also good.

Fourth Embodiment FIG. 7 shows a fourth embodiment.

  FIG. 7 is a cross-sectional view of an angle type electric clamping machine, which uses the actuator 10 shown in FIG.

  An angle type electric clamping machine 90 shown in FIG. 7 includes a first exterior housing 91, a second exterior housing 92, and a battery 93. The actuator 10 is disposed in the first exterior housing 91. A second exterior housing 92 is detachably connected to the rear portion of the first exterior housing 91. A battery 93 is replaceably attached to the rear end of the second exterior housing 92. A trigger switch 94 is disposed at the rear end of the second exterior housing 92, and a drive circuit unit 95 is disposed in the second exterior housing 92. A display unit 96 is disposed at the front end of the second exterior housing 92.

  The actuator 10 is disposed in the first exterior housing 91. The actuator 10 is fixed to the first exterior housing 91 so that the main body case 31 cannot move around the rotation axis and in the rotation axis direction. However, the electric motor 1 is not fixed around the rotation axis with respect to the first exterior housing 91. Similarly to the embodiment shown in FIG. 5, the motor reaction force may be prevented from being transmitted to the first exterior housing 91 by being supported rotatably around the axis by a support bracket (not shown). The first exterior housing 91 is formed with an insertion hole (not shown) into which the adjustment member 40 is inserted.

  The actuator 10 has an L-shaped head portion 41 fixed to the tip portion. A first bevel gear 42 is attached to the tip of the output shaft 33. The head portion 41 includes an L-shaped head casing 411, a drive shaft 43 that is rotatably disposed in the head casing 411, and a second bevel gear 44 that is attached to one end of the drive shaft 43.

  The head casing 411 of the head portion 41 is fixed to the main body casing 31. The first bevel gear 42 and the second bevel gear 44 mesh with each other, and the rotation of the output shaft 33 is transmitted to the drive shaft 43. For example, a socket or the like is attached to the drive shaft 43, and a bolt or a nut is rotated.

  In the first embodiment described above, the drive source is an electric motor, but a motor using a fluid such as hydraulic pressure or air may be used. Also, the size may be any size from ultra-small to large.

  Further, the actuator of the present invention is not limited to that used in a tightening machine that tightens a bolt or the like with a predetermined torque value, and can be used as, for example, a robot arm or a manipulator drive unit. In this case, the driven object can be driven with a predetermined torque. That is, since the torque value to which the motor reaction force is applied can be detected, it is possible to drive the drive target with high accuracy with the set torque value.

  Moreover, although the torque measuring device of 2nd Embodiment-4th Embodiment is shown as a drive device equipped with the actuator 10, the drive device of this invention is not limited to these torque measurement devices, The above-mentioned Examples of such robot arms and manipulators can be given.

  In the second to fourth embodiments described above, the drive circuit unit has a calculation unit for obtaining a torque value based on the detection value detected by the torque sensor 5, and the torque value obtained by the calculation unit is displayed on the display unit. indicate.

DESCRIPTION OF SYMBOLS 10 Actuator 1 Electric motor 11 Motor casing 12 Motor shaft 13 Mounting part 14 Engagement recessed part 3 Power transmission part
31 Main body casing 32 Planetary gear speed reducer 33 Output shaft 35 Power transmission shaft 36, 38 Bearing 37 Fixing screw 39 Coupler 40 Adjustment member 311 Third through hole 321 Internal tooth 322 Ring gear 322a Screw hole 322b Stopper screw 322c Rear fitting 323 Sun gear 324 Planet gear 325 Support shaft 326 Carrier (cage)
331 1st through-hole 327 2nd through-hole 5 Torque sensor 51 Strain body 52 Strain gauge 511 Reaction force transmission part 512 Reaction force receiving part 511a Screw hole 511b Gear part 511c Hole part 513a, 513b Elastic deformation body 512a Screw hole 512b First 1 shaft hole portion 512c second shaft hole portion 7 motor fixing portion 71 motor fixing shaft 72 motor mounting portion 71a screw portion 71b shaft hole portion 720 substrate 721 through hole portion 722 engaging claw portion 723 tightening portion 723a rear end portion 724 tightening Nut portion 724a Screw portion 724b Concave surface portion 60 Straight type electric clamping machine 61 Exterior housing 62 Support bracket 63 Power cord 64 Terminal portion 65 Trigger switch 66 Rotation adjustment switch 611 Section chamber 612 Wall portion 613 Through hole 80 Pistol type electric clamping device 81 First exterior housing 82 2 Exterior housing 83 Support bracket 84 Rotation adjustment switch 85 Trigger switch 86 Battery 87 Drive circuit section 90 Angle type electric clamping machine 91 First exterior housing 92 Second exterior housing 93 Battery 94 Trigger switch 95 Drive circuit section 96 Display section 41 Head Part 42 First bevel gear 43 Drive shaft 44 Second bevel gear 411 Head casing

Claims (17)

A body casing;
A drive motor having a motor casing, a power transmission shaft that projects from the motor casing and outputs a driving force for rotationally driving the driven body, and a motor fixing portion fixed to the motor casing;
A driving force is input from the power transmission shaft, a driving force transmission unit that decelerates the input driving force and outputs the decelerated driving force to the driven body;
A first transmission unit that is connected to the driving force transmission unit and is fixed to the motor fixing unit, wherein the first reaction force received by the driving force transmission unit by outputting the driving force to the driven body. The first reaction force in the first rotation direction is transmitted from the driving force transmission portion, and the second reaction force in the first rotation direction received by the motor casing when the drive motor outputs the driving force. A first transmission portion transmitted from the motor casing via the motor fixing portion;
A second transmission part fixed to the main body casing;
An elastic deformation body having one end fixed to the first transmission portion and the other end fixed to the second transmission portion;
A strain gauge for detecting strain of the elastic deformation body corresponding to the torque value of the actuator;
An actuator comprising:   The actuator according to claim 1, wherein the driving force transmission unit can apply a driving force from the outside of the main body casing. The said driving force transmission part has a planetary gear planetary mechanism, and the said 1st reaction force is transmitted to the said 1st transmission part from the ring gear of the said gear planetary mechanism, The said 1st transmission part is characterized by the above-mentioned. Actuator. The actuator according to claim 3, wherein the planetary gear mechanism , the first transmission unit, the second transmission unit, the elastic deformable body, and the strain gauge are arranged in the main body casing.   The actuator according to claim 1, wherein the main body casing and the drive motor are arranged in series in the front-rear direction. The motor fixing part includes a fixed substrate fixed to the front of the drive motor, the fixed substrate extended forward, is fixed to the drive motor to the first transfer portion SL before disposed in front of the drive motor The actuator according to claim 5, further comprising a motor fixed shaft. The motor fixing shaft, have been formed in the hollow shaft, according to claim power transmission shaft for transmitting the driving force to the driving force transmitting portion from the driving motor is characterized in that it is inserted with a clearance 6 Actuator. The driving force transmitting unit, an actuator according to any one of claims 1 to 7 in which the output shaft is characterized in that out collision forward from the front end of the main body casing.   The actuator according to claim 1, wherein the drive motor is an electric motor. The actuator according to any one of claims 1 to 9,
An exterior housing that houses the actuator;
Have
The driving device according to claim 1, wherein only the driving force transmission portion of the actuator is fixed to the exterior housing.   The drive device according to claim 10, wherein the drive motor of the actuator is supported by a bracket provided in the exterior housing so that a motor reaction force does not act on the exterior housing.   The drive device according to claim 10 or 11, wherein when the drive motor of the actuator is an electric motor, a battery which is a power source of the electric motor is attached to the exterior housing.   The drive device according to any one of claims 10 to 12, wherein the exterior housing has a straight shape or a pistol shape.   The drive device according to claim 13, wherein the actuator has an L-shaped head portion at a tip portion.   The drive device according to any one of claims 10 to 14, wherein the outer housing is formed with a hole that allows a drive force to be applied to the drive force transmission portion from the outside of the main casing. .   The drive device according to any one of claims 10 to 15, wherein the drive device is any one of a torque measurement device, a power transmission device, a robot arm, and a manipulator. The calculation part which calculates | requires a torque value based on the detected value detected with the said torque sensor, and the display part which displays the torque value calculated | required by the said calculation part, It is any one of Claim 10 to 16 characterized by the above-mentioned. Driving equipment.