JP7181703B2 - Rotation restriction mechanism, rotary actuator and robot - Google Patents

Description

The present invention relates to a rotation restriction mechanism, a rotation actuator and a robot.

2. Description of the Related Art Conventionally, a rotation restricting mechanism that restricts the rotation of a rotor that is stopped at a joint of an articulated robot includes, for example, a substantially annular rotating restricting member that is fixed to the rotor and a rotating restricting member that engages with the rotating restricting member. and a drive mechanism for moving the fixed-side restricting member in the axial direction of the rotor.

JP 2017-189081 A

However, in the rotation regulating mechanism as described above, when the fixed side regulating member is engaged with the rotating side regulating member and a torque of a predetermined amount or more is applied to the rotating side regulating member, the rotation side regulating member exerts a torque of a predetermined amount or more on the rotor. of torque is transmitted from the rotor to the drive side, and there is a risk that the drive side will be damaged.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a rotation restricting mechanism, a rotary actuator, and a robot that can suppress damage to the driving side.

To solve the above-described problems and achieve the object, a rotation restricting mechanism according to one aspect of the present invention includes a restricting member, an engaging portion, and a holding portion. The regulating member is attached to a rotating shaft on the drive side and rotates integrally with the rotating shaft. The engaging portion stops rotation of the rotating shaft by engaging with the restricting member. The holding portion holds the regulating member with respect to the rotating shaft so that a holding force between the rotating shaft and the regulating member can be adjusted. The restricting member is disc-shaped and has a restricting portion that engages with the engaging portion on an outer peripheral portion thereof. The restricting portion has a concave portion formed between two protruding portions protruding from the outer peripheral portion toward the radially outer side of the restricting member and arranged at a predetermined interval in the circumferential direction of the restricting member. Prepare. The recess is formed on the radial center line of the restricting member. The convex portion is tangentially displaced from the radial center line of the restricting member.

According to one aspect of the present invention, damage to the driving side can be suppressed.

FIG. 1 is an explanatory diagram of the robot according to the embodiment. FIG. 2A is an explanatory diagram (part 1) of the rotary actuator according to the embodiment; FIG. 2B is an explanatory diagram (part 2) of the rotary actuator according to the embodiment; FIG. 3A is a perspective view showing a non-restricted state of the rotation restricting mechanism according to the embodiment; FIG. 3B is a perspective view showing a restricted state of the rotation restricting mechanism according to the embodiment; 4A is a perspective view (part 1) showing a regulating member and a holding portion according to the embodiment; FIG. FIG. 4B is a perspective view (part 2) showing the regulating member and the holding portion according to the embodiment; FIG. 5 is a side view showing the regulating member according to the embodiment; FIG. 6A is an explanatory diagram (Part 1) of an engaging state of an engaging portion with respect to a regulating member according to the embodiment; FIG. 6B is an explanatory diagram (part 2) of the engagement state of the engagement portion with respect to the regulating member according to the embodiment; FIG. 7 is a perspective view showing a rotation restricting mechanism according to a modification. FIG. 8 is a perspective view showing a regulating member according to a modification. FIG. 9 is a side view showing a regulating member according to a modification.

Hereinafter, a rotation restricting mechanism, a rotary actuator, and a robot according to embodiments will be described with reference to the drawings. In addition, this invention is not limited by embodiment described below. Also, it should be noted that the drawings are schematic, and the relation of dimensions of each element, the ratio of each element, and the like may differ from reality. Even between the drawings, there are cases where portions with different dimensional relationships and ratios are included.

<Overview of the robot>
First, an outline of a robot 10 according to an embodiment will be described with reference to FIG. FIG. 1 is an explanatory diagram of the robot 10 according to the embodiment, and is a front view showing the robot 10. FIG. The robot 10 is a so-called multi-joint robot including a plurality of joints (also referred to as robot modules) 12 to be described later, and is installed, for example, in a product assembly line or manufacturing line.

For convenience of explanation, FIG. 1 shows a three-dimensional orthogonal coordinate system including a Z-axis whose positive direction is vertically upward. Such an orthogonal coordinate system may also be shown in other figures.

As shown in FIG. 1 , the robot 10 includes a base portion 11 , a plurality of joint portions 12 , a plurality of arm portions 13 and a hand portion 14 . Note that FIG. 1 shows an example in which the robot 10 includes six joints 12 and two arms 13 .

The six joints 12 are arranged between the base portion 11 on the upstream side of power transmission in the robot 10 and the hand portion 14 on the downstream side, a first joint portion 12A, a second joint portion 12B, and a third joint portion 12C. , the fourth joint portion 12D, the fifth joint portion 12E, and the sixth joint portion 12F. The two arms 13 have the first arm 13A arranged on the upstream side of power transmission in the robot 10, and the second arm 13B arranged on the downstream side.

The base portion 11 supports the robot 10 as a whole by supporting the first joint portion 12A. Of the six joints 12, the first joint 12A rotates with respect to the base 11 around the axis AX1, which is a virtual axis. The first joint portion 12A rotates (also referred to as turning) in the XY plane. The second joint portion 12B is connected to the first joint portion 12A and rotates about the axis AX2 with respect to the first joint portion 12A.

Also, the second joint portion 12B is connected to one end portion of the first arm portion 13A. The third joint portion 12C is connected to the other end portion of the first arm portion 13A. The fourth joint portion 12D is connected to the third joint portion 12C and rotates around the axis AX3, which is a virtual axis, with respect to the third joint portion 12C. Also, the fourth joint portion 12D is connected to one end portion of the second arm portion 13B.

The fifth joint portion 12E is connected to the other end of the second arm portion 13B. The sixth joint portion 12F is connected to the fifth joint portion 12E and rotates around the axis AX4, which is a virtual axis, with respect to the fifth joint portion 12E. The hand portion 14 is connected to the sixth joint portion 12F. The hand part 14 rotates around the axis AX5.

The hand part 14 is a tip part (end effector) of the robot 10, and is, for example, a gripping device that grips a component. The hand part 14 can be replaced according to the application of the robot 10 . The hand unit 14 includes a gripping device, a coating device, a welding device, and the like. Note that the rotation configuration of the robot 10 by the six joints 12 is not limited to the above. The robot 10 may be configured to be rotatable, for example, between the second joint portion 12B and the first arm portion 13A and between the fourth joint portion 12D and the second arm portion 13B.

Also, the six joints 12 are each provided with a rotary actuator 20 (see FIG. 2A). In other words, the rotary actuator 20 is mounted on the joint 12 . The robot 10 can perform multi-axis motion with the rotary actuator 20 .

<Rotary actuator>
The rotary actuator 20 will now be described with reference to FIGS. 2A and 2B. 2A and 2B are explanatory diagrams of the rotary actuator 20 according to the embodiment. 2A and 2B show cross sections of the XZ plane of, for example, the fourth joint 12D among the six joints 12. As shown in FIG. Also, in FIG. 2B, different types of slanted lines are given to the fixed part 24 and the rotating part 25 so that they are clearly distinguished. Therefore, the oblique lines in FIG. 2B do not necessarily indicate a cross section.

As shown in FIG. 2A, the rotary actuator 20 includes a motor 21, a speed reducer 30, and a rotation restricting mechanism 40. As shown in FIG. The motor 21 is a drive source for the rotary actuator 20 and has an output shaft 22 extending in the X direction. The output shaft 22 is coaxially connected to a rotary shaft 23 that transmits power to the speed reducer 30 .

The speed reducer 30 is, for example, a hollow speed reducer with a through hole formed in the center in the radial direction. The speed reducer 30 is, for example, a strain wave gear device, and includes a wave motion generator 31 , a flexible external gear 32 , and a fixed internal gear 33 . The wave generator 31 is provided on the outer circumference of the rotary shaft 23 that serves as the output shaft 22 of the motor 21 .

The wave generator 31 is a component in which a ball bearing 311 is incorporated on the outer periphery of an elliptical cam. The wave generator 31 is attached to the outer periphery of the output shaft 22 (rotating shaft 23 ) of the motor 21 . The wave generator 31 has an inner ring of a ball bearing 311 fixed to an elliptical cam.

The flexible external gear 32 is attached to the wave generator 31 on the input side and attached to the bearing 35 on the output side. The flexible externally toothed gear 32 is, for example, a cup-shaped flexible part having teeth on the outer circumference of the open end. Fixed internal gear 33 is fixed to casing 34 of speed reducer 30 . The fixed internal gear 33 is, for example, a ring-shaped rigid part having teeth on its inner periphery.

In the speed reducer 30, the rotational power input from the output shaft 22 (rotating shaft 23) of the motor 21 is transmitted while being reduced in the order of the wave generator 31, the elastic external gear 32, and the fixed internal gear 33. 35 to the output unit 36 . As shown in FIG. 2B , in the rotary actuator 20 , the rotating portion 25 rotates around the rotating shaft 23 with respect to the fixed portion 24 .

Note that the speed reducer 30 is not limited to the strain wave gearing described above. The speed reducer 30 may be a device other than a strain wave gearing (for example, a planetary gearing).

<Rotation restriction mechanism>
Next, the rotation restricting mechanism 40 will be described with reference to FIGS. 2A to 6B. Rotation restricting mechanism 40 is provided to restrict rotation of rotary actuator 20, for example, when robot 10 (see FIG. 1) stops operating. As shown in FIGS. 2A and 2B, the rotation restricting mechanism 40 includes a restricting member 41 , an engaging portion 42 and a holding portion 43 .

The regulating member 41 is attached to the drive side of the rotary actuator 20 , that is, to the rotary shaft 23 that becomes the output shaft 22 of the motor 21 that is the drive source, and rotates integrally with the rotary shaft 23 . The engaging portion 42 stops the rotation of the rotating shaft 23 by engaging with the restricting member 41 . The engagement portion 42 is, for example, a solenoid actuator, and includes a protrusion 421 that can advance and retreat in the Z direction.

The engaging portion 42 is arranged radially outside the restricting member 41 with respect to the restricting member 41 . Further, the engaging portion 42 advances the projecting portion 421 toward the restricting member 41 in the restricting state of the restricting member 41 .

The holding portion 43 holds the restricting member 41 with respect to the rotating shaft 23 . The holding portion 43 holds the regulating member 41 so that the holding force between the rotating shaft 23 and the regulating member 41 can be adjusted. In addition, the configuration of the regulating member 41 and the holding portion 43 will be described later with reference to FIGS. 4A and 4B.

FIG. 3A is a perspective view showing the non-restricted state of the rotation restricting mechanism 40 according to the embodiment. FIG. 3B is a perspective view showing the restricted state of the rotation restricting mechanism 40 according to the embodiment. As shown in FIG. 3A , in the rotation restricting mechanism 40 , the protrusion 421 of the engaging portion 42 retreats in the opposite direction (Z negative direction) to the restricting member 41 when the restricting member 41 is in the non-restricting state. In this case, the restricting member 41 is rotatable integrally with the rotating shaft 23 .

As shown in FIG. 3B, in the rotation restricting mechanism 40, when the restricting member 41 is restricted, the protrusion 421 of the engaging portion 42 advances in the direction of the restricting member 41 (positive Z direction), and the protrusion 421 moves toward the restricting member 41. As shown in FIG. engages with a later-described restricting portion 412 . In this case, the restricting member 41 is restricted from rotating and restricts the rotating shaft 23 from rotating.

4A and 4B are perspective views showing the regulating member 41 and the holding portion 43 according to the embodiment. Note that FIG. 4B shows a cross section of the XZ plane. As shown in FIGS. 4A and 4B, the regulating member 41 has a disc shape and includes a through hole 411 and a regulating portion 412 . A through hole 411 is formed in the central portion of the regulating member 41 . Further, the through hole 411 is formed to have a diameter through which the rotating shaft 23 (see FIG. 2A) can be inserted.

The restricting portion 412 is provided on the outer peripheral portion of the restricting member 41 . The restricting portion 412 engages with the protrusion 421 (see FIG. 3B) of the engaging portion 42 . The restricting portion 412 has two convex portions 413 and a concave portion 414 . The two protrusions 413 protrude outward in the radial direction of the regulation member 41 from the outer peripheral portion of the regulation member 41 . The two protrusions 413 are arranged at a predetermined interval in the circumferential direction of the regulating member 41, that is, at an interval that allows the protrusion 421 of the engaging portion 42 to enter.

A recess 414 is formed between two protrusions 413 . The concave portion 414 is engaged with the protrusion 421 by inserting the protrusion 421 of the engaging portion 42 . Thereby, the circumferential rotation of the restricting member 41 can be restricted. In addition, a plurality of restricting portions 412 are arranged at regular intervals in the circumferential direction of the restricting member 41 . In the illustrated example, four regulating portions 412 are arranged at intervals of 90 degrees (phase difference) on the outer peripheral portion of the regulating member 41 . Details of the restricting portion 412 will be described later with reference to FIGS. 5 to 6B.

As shown in FIG. 4B, the holding portion 43 holds the restricting member 41 on the rotating shaft 23 (see FIG. 2A) by sandwiching the restricting member 41 from a direction crossing the radial direction of the restricting member 41 (the axial direction of the rotating shaft 23). The holding portion 43 includes a retaining ring 431 , an elastic member 432 and a shim plate 433 . The retaining ring 431 is arranged on the outermost side of the holding portion 43 in the X direction.

The retaining ring 431 is fixed to the rotating shaft 23 by inserting the rotating shaft 23 and fitting into a groove 231 formed on the outer circumference of the rotating shaft 23 . The retaining ring 431 sandwiches the restricting member 41 from a direction crossing the radial direction, thereby fixing (holding) the restricting member 41 to the rotating shaft 23 by the retaining portion 43 including the retaining ring 431 .

The elastic member 432 is, for example, disk-shaped and has elasticity in the thickness direction (X direction). The elastic member 432 is preferably a leaf spring. In addition, the elastic member 432 has a through hole through which the rotating shaft 23 can be inserted in the central portion. The shim plate 433 is arranged on the innermost side of the holding portion 43 in the X direction. The shim plate 433 is, for example, disc-shaped and made of metal, for example. Moreover, the shim plate 433 has a through-hole in the central portion through which the rotating shaft 23 can be inserted.

The holding portion 43 can adjust the holding force of the regulating member 41 by adjusting the elastic force of the elastic member 432 . Here, when the engaging portion 42 is engaged with the regulating member 41 , if the torque transmitted from the regulating member 41 to the rotating shaft 23 exceeds the holding force of the holding portion 43 , the regulating member 41 will move against the rotating shaft 23 . Slipping, the restricting member 41 stops rotating. The holding part 43 may adjust (strengthen) the elastic force of the elastic member 432 by, for example, changing the thickness of the shim plate 433 to press the elastic member 432 in the thickness direction (X direction). Alternatively, the elastic force of the elastic members 432 may be adjusted by using a plurality of elastic members 432 having different elastic moduli.

Here, details of the restricting portion 412 of the restricting member 41 will be described. FIG. 5 is a side view showing the regulating member 41 according to the embodiment. 6A and 6B are explanatory diagrams of the engaging operation of the engaging portion 42 with the restricting member 41 according to the embodiment. 6A and 6B show the engaging operation of the protrusion 421 of the engaging portion 42 in the portion A of FIG. 5, 6A and 6B, the restricting member 41 rotates in the direction indicated by the arrow R1.

As shown in FIG. 5, the regulating member 41 has four regulating portions 412 at intervals of 90 degrees (phase difference) on the outer peripheral portion.

The restricting portion 412 is offset parallel to the radial centerline of the restricting member 41 (the centerline L1 in the Y direction and the centerline L2 in the Z direction). Taking the restricting portion 412 arranged on the right side in FIG. It is deviated from L1 in the tangential Lt direction. Further, of the two protrusions 413, the other protrusion 413b, which precedes in the rotation direction R1, is shifted in the tangential line Lt direction so as to be symmetrical with respect to the one protrusion 413a with respect to the center line L1.

As shown in FIG. 6A , when the projection 421 of the engaging portion 42 advances with respect to the rotating regulation member 41 because the regulation portion 412 is offset, for example, the projection 421 is disengaged from the recess 414 . When it abuts against the outer surface of the first protrusion 413 on the front side in the rotational direction, the degree of inclination of the protrusion 413 is greater than when the restricting portion 412 is not offset.

In this case, as shown in FIG. 6A, the force F acting on the protrusion 421 includes a downward component Fb in the figure in addition to the component Fa in the horizontal direction in the figure. Further, when the protrusion 421 of the engaging portion 42 protrudes for restricting the rotation of the restricting member 41, a force is always applied in the protruding direction (advancing direction). The projecting portion 421 moves backward when pushed in a direction (backward direction) opposite to the projecting direction, but projects again when the force is removed. Therefore, the protrusion 421 is pushed down by the protrusion 413 of the rotating restricting member 41 , and protrudes into the recess 414 after the first protrusion 413 (the other protrusion 413 b ) has passed.

As shown in FIG. 6B, when the protrusion 421 enters the recess 414, the protrusion 421 comes into contact with the surface of the second protrusion 413 (one protrusion 413a). In this case, the force F acting on the protrusion 421 is horizontal force in the figure. Even if the force F acting on the protrusion 421 includes a downward component in the figure, it is very small.

In this way, since the protrusion 413 of the restricting portion 41 is displaced from the radial center line L2 of the restricting member 41 in the tangential line Lt direction, contact with the protrusion 421 of the engaging portion 42 that has entered the recess 414 is prevented. Area increases.

As described above, according to the rotation regulating mechanism 40 according to the embodiment, the holding portion 43 holds the regulating member 41 so that the holding force can be adjusted. When a predetermined torque or more is applied to the regulating member 41 by engaging with the portion 42 , the holding force of the holding portion 43 is exceeded, and the regulating member 41 slides on the rotating shaft 23 . It is possible to prevent the transmission of the above torque.

As a result, it is possible to prevent torque exceeding a predetermined value from being transmitted from the rotary shaft 23 to the driving side, ie, the motor 21 which is the driving source, and damage to the motor 21 can be suppressed.

Further, since the holding force of the holding portion 43 is adjusted by adjusting the elastic force of the elastic member 432, the holding force between the rotary shaft 23 and the regulating member 41 can be easily adjusted. Further, since the elastic member 432 is a plate spring, the elastic member 432 of the holding portion 43 can be configured simply. In addition, since the holding portion 43 sandwiches the restricting member 41 with the elastic member 432 from the direction intersecting the radial direction of the restricting member 41, the restricting member 41 can be reliably retained.

Further, the protrusion 421 of the engaging portion 42 enters the concave portion 414 of the restricting portion 412, so that the rotation of the rotating shaft 23 can be stopped. In this case, since the convex portion 413 of the restricting portion 412 is displaced from the radial center line L2 of the restricting member 41 in the tangential line Lt direction, the contact area between the engaging portion 42 that has entered the concave portion 414 and the protrusion 421 is The braking force Fa can be increased, and the stress concentration can be alleviated to reduce the load on the protrusion 421 . As a result, damage to the restricting member 41 and the engaging portion 42 can be suppressed.

In addition, since the engaging portion 42 enters the recess 414 from the radial direction of the restricting member 41, the overall height (X direction ) can be suppressed. In addition, by restricting the protrusion 421 of the engaging portion 42 with the two projections 413, the return of the restricting member 41 in the circumferential direction is restricted, and the restricting member 41 can be rotated either left or right. It becomes available.

In addition, by arranging a plurality of restricting portions 412 in the circumferential direction of the restricting member 41 , the distance from the rotating restricting member 41 until the protrusion 421 of the engaging portion 42 enters the concave portion 414 of the restricting portion 412 is increased. Since it is short, it is possible to suppress the time lag from when the engaging portion 42 starts operating until when the rotating shaft 23 stops rotating.

Further, according to the rotary actuator 20 according to the above-described embodiment, it is possible to prevent torque exceeding a predetermined value from being transmitted to the motor 21 on the drive side, and damage to the motor 21 can be suppressed.

Further, according to the robot 10 according to the above-described embodiment, damage to the motor 21 in the rotary actuator 20 can be suppressed, so durability can be improved.

In the above-described embodiment, the holding portion 43 has the elastic member 432, but the elastic member 432 may be omitted. In this case, the shim plate 433 serves as a spacer between the regulating member 41 and can cut off the power transmission between the regulating member 41 and the rotating shaft 23 when a torque exceeding a predetermined value is applied to the regulating member 41 . It is also possible to leave the elastic member 432 and omit the shim plate 433 .

Further, when the regulating member 41 is sandwiched between the holding portions 43, only one of the elastic members 432 may be provided. Even with this configuration, the holding portion 43 can hold the restricting member 41 so that the holding force can be adjusted.

Further, in the above-described embodiment, the robot 10 is configured to include the rotation restricting mechanism 40 in the joint portion 12 when the robot 10 is an articulated robot, but the robot 10 is not limited to an articulated robot. For example, it is also possible to use the rotation restriction mechanism 40 in a wheel module of an electric vehicle or the like.

<Modified Example of Rotation Control Mechanism>
Next, a modification of the rotation restricting mechanism (rotation restricting mechanism 50) will be described with reference to FIGS. 7 to 9. FIG. FIG. 7 is a perspective view showing a rotation restricting mechanism 50 according to a modification. FIG. 8 is a perspective view showing a regulating member 51 according to a modification. FIG. 9 is a side view showing a regulating member 51 according to a modification. In addition, in FIG. 9, the regulation member 51 shall rotate in the direction shown by arrow R2.

In addition, in the rotation restricting mechanism 50 according to the modification, the configuration of the restricting member 51 is different from that of the rotation restricting mechanism 40 described above. For this reason, hereinafter, the restricting member 51 will be described, and the same or equivalent portions will be denoted by the same reference numerals, and description thereof may be omitted.

As shown in FIG. 7 , the rotation restricting mechanism 50 according to the modification includes a restricting member 51 , an engaging portion 42 and a holding portion 43 . The regulating member 51 is arranged so that a regulating portion 512, which will be described later, faces the positive X direction.

As shown in FIG. 8 , the regulating member 51 has a disk shape and includes a through hole 511 and a regulating portion 512 . A through hole 511 is formed in the central portion of the regulating member 51 . Further, the through hole 511 is formed to have a diameter through which the rotary shaft 23 (see FIG. 2A) can be inserted.

The restricting portion 512 is provided on the outer peripheral portion of the restricting member 51 . The restricting portion 512 engages with the protrusion 421 (see FIG. 3B) of the engaging portion 42 . The restricting portion 512 includes two convex portions 513 and a concave portion 514 . The two protrusions 513 protrude from the outer peripheral portion of the restricting member 51 in a direction crossing the radial direction of the restricting member 41 . The two protrusions 513 are arranged at a predetermined interval in the circumferential direction of the regulating member 51, that is, at an interval that allows the protrusion 421 of the engaging portion 42 to enter.

A recess 514 is formed between two protrusions 513 . When the projection 421 of the engaging portion 42 enters the recess 514, the projection 421 and the projection 513 are engaged with each other. Thereby, the circumferential rotation of the restricting member 51 can be restricted. A plurality of restricting portions 512 are arranged at regular intervals in the circumferential direction of the restricting member 51 . In the illustrated example, eight restricting portions 512 are arranged at intervals of 45 degrees (phase difference) on the outer peripheral portion of the restricting member 51 .

As shown in FIG. 9 , the restricting portion 512 is offset parallel to the radial centerline of the restricting member 51 . Taking the restricting portion 512 arranged on the right side in FIG. It is tangentially offset from L1. Further, of the two convex portions 513, the other convex portion 513b, which precedes in the rotational direction R2, is shifted in the tangential direction so as to be symmetrical with respect to the one convex portion 513a across the center line L1.

As described above, in the rotation restricting mechanism 50 according to the modified example as well, the restricting portion 512 of the restricting member 51 is offset, so that the protrusion 421 (see FIG. face to face.

According to the rotation restricting mechanism 50 according to the modification, the protrusion 421 (see FIG. 3B) of the engaging portion 42 enters the concave portion 514 of the restricting portion 512, so that the rotation of the rotating shaft 23 can be stopped.

In this case, since the convex portion 513 of the restricting portion 512 is tangentially displaced from the radial center line L1 of the restricting member 51, the contact area of the engaging portion 42 entering the recessed portion 514 with respect to the projecting portion 421 is increased. The braking force can be improved, stress concentration can be alleviated, and the load applied to the engaging portion can be reduced. As a result, damage to the restricting member 51 and the engaging portion 42 can be suppressed.

Furthermore, according to the rotation restricting mechanism 50 according to the modified example, since the convex portion 513 of the restricting portion 512 extends toward the output side (X positive direction) in the axial direction of the rotating shaft 23, the rotation according to the above-described embodiment is prevented. Compared with the regulation mechanism 40, the diameter can be reduced, that is, the size can be reduced in the ZY plane.

In addition, since the engaging portion 42 enters the recess 514 from the radial direction of the restricting member 51, for example, the overall height (X-direction ) can be suppressed. In addition, by restricting the protrusion 421 of the engaging portion 42 with the two protrusions 513 (513a, 513b), the restricting member 41 is restricted from returning in the circumferential direction, and the restricting member 41 rotates to either the left or the right. Even if it is a configuration, it becomes possible to correspond.

In addition, by arranging a plurality of restricting portions 512 in the circumferential direction of the restricting member 51 , the distance between the rotating restricting member 51 and the protrusion 421 of the engaging portion 42 entering the concave portion 514 of the restricting portion 512 is increased. Since it is short, it is possible to suppress the time lag from when the engaging portion 42 starts operating until when the rotating shaft 23 stops rotating.

Moreover, the present invention is not limited by the above embodiments. The present invention also includes those configured by appropriately combining the respective constituent elements described above. Further effects and modifications can be easily derived by those skilled in the art. Therefore, broader aspects of the present invention are not limited to the above-described embodiments, and various modifications are possible.

10 robot, 12 joint part, 20 rotary actuator, 21 drive source, 22 output shaft, 23 rotary shaft, 40, 50 rotation restriction mechanism, 41, 51 restriction member, 412, 512 restriction part, 413, 513 convex part, 414, 514 recessed portion 42 engaging portion 43 holding portion 432 elastic member L1, L2 center line Lt tangent line

Claims (8)

a regulating member that is attached to a drive-side rotating shaft and rotates integrally with the rotating shaft;
an engaging portion that stops rotation of the rotating shaft by engaging with the restricting member;
a holding part that holds the regulating member with respect to the rotating shaft so that a holding force between the rotating shaft and the regulating member can be adjusted ;
The regulating member is disc-shaped and has a regulating portion that engages with the engaging portion on an outer peripheral portion,
The restricting portion has a concave portion formed between two protruding portions protruding from the outer peripheral portion toward the radially outer side of the restricting member and arranged at a predetermined interval in the circumferential direction of the restricting member. prepared,
The recess is formed on the radial center line of the restricting member,
The convex portion is tangentially displaced from the radial center line of the restricting member .
Rotation regulation mechanism. 2. The rotation restricting mechanism according to claim 1, wherein said holding portion includes an elastic member, and said holding force is adjusted by adjusting the elastic force of said elastic member. 3. The rotation restricting mechanism according to claim 2, wherein said elastic member is a leaf spring. 4. The rotation restricting mechanism according to claim 2, wherein said holding portion sandwiches said restricting member with said elastic member from a direction crossing the radial direction of said restricting member. The regulating member is disc-shaped and has a regulating portion that engages with the engaging portion on an outer peripheral portion,
The restricting portion is a recess formed between two protruding portions protruding from the outer peripheral portion in a direction intersecting the radial direction of the restricting member and arranged at a predetermined interval in the circumferential direction of the restricting member. with
The rotation restricting mechanism according to any one of claims 1 to 4 , wherein the protrusion is tangentially displaced from the radial center line of the restricting member. The rotation restricting mechanism according to claim 4 or 5 , wherein a plurality of said restricting portions are arranged at equal intervals in said circumferential direction of said restricting member. a rotation restricting mechanism according to any one of claims 1 to 6 ;
A rotary actuator comprising: a drive source having the rotary shaft as an output shaft. A rotary actuator according to claim 7 ;
A robot, comprising: a joint on which the rotary actuator is mounted.

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