JP7225640B2 - Encoders, drives and robots - Google Patents

Description

The present invention relates to encoders, drives and robots.

Encoders are being researched and developed.

In this regard, an encoder having a cover to which wiring is fixed by a grommet is known (see Patent Document 1). Here, the wiring is wiring connected to the board of the encoder.

JP-A-08-64299

In such an encoder, the work of attaching the wiring connected to the board of the encoder to the cover of the encoder via the grommet is complicated. As a result, it was sometimes difficult to improve the production efficiency of the encoder.

In order to solve the above problems, one aspect of the present invention is an encoder for detecting a rotation angle of a rotation shaft of a drive unit having a rotation shaft, the encoder being attached to the rotation shaft of the drive unit, a rotation angle detection unit for detecting the rotation angle of the rotation shaft; wiring connected to the rotation angle detection unit; and a cover provided with a first hole through which the wiring passes, The cover includes a first cover provided with a second hole, a second cover attached to the first cover, and an interference portion provided between the first hole and the second hole and interfering with the wiring. and wherein the wiring passes through the first hole, the interference portion, and the second hole.

To solve the above problems, one aspect of the present invention provides a drive unit having a rotation shaft, which is attached to the rotation shaft of the drive unit and detects a rotation angle of the rotation shaft. An angle detector, a wire connected to the rotation angle detector, and a cover provided with a first hole through which the wire passes, wherein the cover is a first cover provided with a second hole. a second cover attached to the first cover; and an interference portion provided between the first hole and the second hole for interfering with the wiring, wherein the wiring extends through the first hole. , the interference portion, and a driving portion passing through the second hole.

In order to solve the above problems, one aspect of the present invention provides a base, a movable portion supported by the base, a driving portion provided in the movable portion and having a rotation shaft, and the A cover provided with a rotation angle detection unit attached to a rotation shaft for detecting a rotation angle of the rotation shaft, wiring connected to the rotation angle detection unit, and a first hole through which the wiring passes. and the cover includes a first cover provided with a second hole, a second cover attached to the first cover, and provided between the first hole and the second hole, and an interference portion that interferes with wiring, wherein the wiring passes through the first hole, the interference portion, and the second hole.

It is a figure showing an example of composition of robot system 1 concerning an embodiment. 2 is an exploded perspective view showing an example of the configuration of an encoder EC; FIG. FIG. 3 is a cross-sectional view of the encoder EC shown in FIG. 2 when the encoder EC is assembled; 4 is a diagram showing an example of the configuration of an interference portion IP provided on the upper surface of the first cover C1 shown in FIG. 3; FIG. FIG. 10 is a diagram showing another example of the configuration of the interference part IP; FIG. 4 is a diagram showing an example of the flow of procedures for assembling an encoder EC; FIG. 3 is a perspective view showing an example of a cover C provided with a reinforcing member; FIG. 4 is a top view showing an example of a cover C provided with reinforcing members;

<Embodiment>
BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Robot configuration>
First, the configuration of a robot 1 according to an embodiment will be described with reference to FIG.
FIG. 1 is a diagram showing an example of the configuration of a robot 1 according to an embodiment. In addition, below, the case where the robot 1 is a SCARA robot is demonstrated as an example. A SCARA robot is also called a horizontal articulated robot. Note that the robot 1 may be another type of robot such as a vertically articulated robot instead of the SCARA robot. Here, the vertically articulated robot may be a single-arm robot having one arm or a multiple-arm robot having two or more arms. Multi-arm robots with two arms are also referred to as dual-arm robots.

The robot 1 is controlled by a robot controller (not shown). The robot 1 may be configured to be controlled by a robot control device installed inside, or may be configured to be controlled by a robot control device installed outside.

The robot 1 includes a base B and a movable part A.

The base B supports the movable part A. In the example shown in FIG. 1, the base B is installed on a predetermined installation surface. The installation surface is, for example, the floor surface of the room where the robot 1 is made to work. The installation surface may be a wall surface of the room, a ceiling surface of the room, an upper surface of a table, a surface of a jig, a surface of a stand, or the like, instead of the floor surface.

Here, in the following, for convenience of explanation, the direction from the base B toward the installation surface among the directions orthogonal to the installation surface will be referred to as the downward direction. Moreover, below, for convenience of explanation, the direction opposite to the downward direction will be referred to as the upward direction. Moreover, below, as an example, a case where the downward direction coincides with the direction of gravity will be described.

The movable portion A is supported by a first arm A1 rotatably supported by a base B about a first rotation axis AX1, and by the first arm A1 rotatably supported about a second rotation axis AX2. It comprises a second arm A2 and a shaft S supported by the second arm A2 so as to be rotatable about a third rotation axis AX3 and to be translatable in the axial direction of the third rotation axis AX3.

The shaft S is a cylindrical shaft. A ball screw groove (not shown) and a spline groove (not shown) are provided on the peripheral surface of the shaft S, respectively. In the example shown in FIG. 1, the shaft S is provided so as to pass vertically through the end of the second arm A2 opposite to the first arm A1.

An external device can be attached to the tip of the shaft S. An external device that can be attached to the tip of the shaft S is an end effector or the like. The tip of the shaft S is the lower end of the two ends that the shaft S has. Nothing is attached to the tip of the shaft S shown in FIG. The end effector attached to the tip of the shaft S is, for example, an end effector capable of holding an object with its fingers. The end effector attached to the tip of the shaft S may be an end effector capable of holding an object by air attraction, magnetic attraction, or the like. Also, the end effector attached to the tip of the shaft S may be an end effector that cannot hold an object. Here, in this embodiment, to hold an object means to bring the object into a state in which it can be lifted.

In this example, the first arm A1 rotates around the first rotation axis AX1 and moves in the horizontal direction. The horizontal direction is a direction perpendicular to the vertical direction.

Further, the first arm A1 is rotated around the first rotation axis AX1 by the first driving portion M1 provided on the base B. As shown in FIG. The first drive unit M1 is an actuator that rotates the first arm A1 around the first rotation axis AX1. The first drive unit M1 is, for example, a servomotor. That is, in this embodiment, the first rotation axis AX1 is a virtual axis that coincides with the rotation axis of the first drive unit M1. Note that the first drive unit M1 may be another actuator that rotates the first arm A1 instead of the servomotor.

In this example, the second arm A2 rotates around the second rotation axis AX2 and moves horizontally.

The second arm A2 is rotated around the second rotation axis AX2 by the second driving portion M2 provided in the second arm A2. The second driving portion M2 rotates the second arm A2 around the second rotation axis AX2. The second drive unit M2 is, for example, a servomotor. That is, in this embodiment, the second rotation axis AX2 is a virtual axis coinciding with the rotation axis of the second drive unit M2. The second drive unit M2 may be another actuator that rotates the second arm A2 instead of the servomotor.

Further, the second arm A2 has a third driving portion M3 and a fourth driving portion M4, and supports the shaft S.

The third driving portion M3 rotates a ball screw nut provided on the outer peripheral portion of the ball screw groove of the shaft S via a timing belt or the like. Thereby, the third drive unit M3 moves (lifts) the shaft S in the vertical direction. The third drive unit M3 is, for example, a servomotor. Note that the third drive unit M3 may be another actuator that vertically moves (lifts) the shaft S instead of the servomotor.

The fourth drive unit M4 rotates a ball spline nut provided on the outer circumference of the spline groove of the shaft S via a timing belt or the like. Thereby, the fourth drive unit M4 rotates the shaft S around the third rotation axis AX3. The fourth drive unit M4 is, for example, a servomotor. Note that the fourth drive unit M4 may be another actuator that rotates the shaft S around the third rotation axis AX3 instead of the servomotor.

Thus, the third rotation axis AX3 is a virtual axis that coincides with the central axis of the shaft S. As shown in FIG.

In the following, as an example, a case where each of the first driving section M1 to the fourth driving section M4 has the same configuration will be described. Part or all of the first driving section M1 to the fourth driving section M4 may have different configurations. Hereinafter, unless it is necessary to distinguish between the first driving section M1 to the fourth driving section M4, they will be collectively referred to as the driving section M for explanation.

The drive unit M includes an encoder EC that outputs the rotation angle of the rotation shaft of the drive unit M to another device. In FIG. 1, the encoder EC is omitted to avoid complication of the drawing. In addition, the drive unit M provided with the encoder EC is called a servomotor.

As an example, the case where the encoder EC is an optical encoder will be described below. The encoder EC may be a magnetic encoder or a mechanical encoder instead of an optical encoder, and may be a combination of two or more of optical, magnetic, and mechanical encoders. It may be an encoder of the specified method or an encoder of another method.

Here, the configuration of the encoder EC will be described.
FIG. 2 is an exploded perspective view showing an example of the configuration of the encoder EC. 3 is a sectional view of the encoder EC when the encoder EC shown in FIG. 2 is assembled. Note that FIG. 3 is a cross-sectional view of the encoder EC when the encoder EC is cut along a plane including the rotation shaft of the drive unit M provided with the encoder EC. Here, in order to simplify the explanation below, in FIGS. 2 and 3, when the direction from the drive unit M toward the encoder EC in the axial direction of the rotation shaft coincides with the aforementioned upward direction. will be explained.

The encoder EC includes a rotation angle detection unit EU, a cover C, and wiring CA connected to the rotation angle detection unit EU.

The rotation angle detection unit EU is attached to the rotation shaft of the driving unit M. As shown in FIG. Also, the rotation angle detection unit EU is a detector that detects the rotation angle of the rotation shaft. In this embodiment, the rotation angle detection unit EU is a detector that detects the rotation angle of the rotation shaft using light.

The rotation angle detection unit EU drives the substrate BP that controls the rotation angle detection unit EU, the pedestal D fixed to the rotation shaft, the optical disk DC provided on the upper surface of the pedestal D, and the substrate BP. It has a pedestal D2 fixed to the portion M, an optical element SR provided (fixed) on the substrate BP, and a light emitting element (not shown).

The optical disk DC is provided with a plurality of slit rows each formed of a plurality of slits arranged in the circumferential direction. The slit of the optical disc DC may be transmissive or reflective. The optical element SR detects light emitted from the light emitting element of the rotation angle detection unit EU and reflected by the optical disc DC.

The board BP includes a processor such as a CPU (Central Processing Unit). Further, the substrate BP is provided with a first connector CN1 for connecting between the substrate BP and the wiring CA. The first connector CN1 is a connector into which a second connector CN2 provided at the end of the wiring CA that is connected to the first connector CN1 is inserted. The first connector CN1 has a receptacle into which the second connector CN2 is inserted along the horizontal direction. That is, the board BP and the wiring CA are connected by horizontally inserting the second connector CN2 into the insertion opening of the first connector CN1.

Power is supplied to the substrate BP from the wiring CA connected to the substrate BP. The board BP controls the entire encoder EC based on the supplied power. Further, the substrate BP detects the rotation angle of the rotation shaft of the driving section M based on the reflected light detected by the optical element SR. The board BP outputs a signal indicating the detected rotation angle to another device via the wiring CA connected to the board BP. That is, in the present embodiment, the wiring CA includes both power lines for supplying power and signal lines for transmitting signals. Note that the wiring CA may include either one of the power line and the signal line, and another wiring may be included instead of one or both of the power line and the signal line. It may be configured to be Further, the substrate BP is provided with an element R on the upper side of the substrate BP, that is, on the side opposite to the optical element SR.

Note that the configuration of the rotation angle detection unit EU may be a known configuration, or may be a configuration that will be developed in the future. Therefore, further detailed description of this configuration is omitted. In the following, as an example, a case will be described in which the board BP outputs a signal indicating the rotation angle of the rotation shaft of the drive unit M to the robot control device that controls the robot 1 . Note that the output destination to which the board BP outputs the signal may be another device instead of the robot control device.

The cover C is a cover that covers the rotation angle detection unit EU attached to the rotation shaft of the drive unit M. As shown in FIG. The driving part M includes a rotating rotor, a rotation axis of the rotor, a stator arranged around the rotor, and a motor cover MC surrounding the rotor and the stator. In the example shown in FIG. 1, the rotation angle detection unit EU is positioned above the cover MC. Therefore, in this example, the rotation angle detection unit EU is surrounded by the cover C and the cover MC. Hereinafter, for convenience of explanation, the space that includes the rotation angle detection unit EU and is surrounded by the cover C and the cover MC will be referred to as a first space R1. Instead of the space surrounded by the cover C and the cover MC, the first space R1 may be a space surrounded by a member other than the cover C and the drive unit M. It may be a space surrounded by members other than the drive unit M. For example, a seal is arranged on the upper surface of the cover MC as a member other than the drive unit M, and the space surrounded by the cover C and the seal and the space surrounded by the cover C, the cover MC and the seal are defined as the first space. It may be R1. Also, the first space R1 may be a space surrounded by members other than the cover MC and the cover C in the driving portion M. For example, a structure in which the cover C is directly fixed to the stator of the driving portion M as a member other than the cover MC in the driving portion M may be employed, and the space surrounded by the cover C and the stator may be the first space R1. Furthermore, it may be a space surrounded by the cover C, the cover MC and the stator. In either case, the first space R1 may be any space that includes the rotation angle detection unit EU.

The cover C also includes a first cover C1, a second cover C2, a first inner wall W1, and a second inner wall W2. Note that the cover C may include a part of the drive unit M. As shown in FIG. For example, the cover C may include a portion of the cover MC. For example, the cover C may be configured to surround the rotor and stator. Further, the cover C may have a configuration in which some member other than the drive unit M is included.

The first cover C1 is a cover that is attached to the drive unit M and covers the rotation angle detection unit EU.

The second cover C2 is a cover attached to the first cover C1. The second cover C2 may be attached directly to the first cover C1, or may be attached via a sealing member or the like.

The first inner wall W1 is provided on the first cover C1. The first inner wall W1 is a wall that surrounds the above-described first space R1 together with the upper surface of the cover MC. In other words, the first inner wall W1 is the surface of the first cover C1 that covers the rotation angle detection unit EU. In other words, the first inner wall W1 is the surface of the first cover C1 that faces the first space R1. Note that the first inner wall W1 may be configured to extend over both the first cover C1 and the second cover C2. Further, when the cover C includes a portion of the driving portion M, the first inner wall W1 may be configured to extend over both the first cover C1 and the portion. It may be configured to be provided over the entire second cover C2 and the part.

The second inner wall W2 is provided between the first cover C1 and the second cover C2. In other words, the second inner wall W2 extends over both the first cover C1 and the second cover C2. The second inner wall W2 is a wall that surrounds the second space R2 with the first cover C1 and the second cover C2. Here, the second space R2 is a space different from the first space R1. The second space R2 is a space surrounded by the first cover C1 and the second cover C2. In the example shown in FIG. 3, the second space R2 is located above the first space R1. Note that the second space R2 may be configured to be positioned other than above the first space R1. The second inner wall W2 may be configured to be provided on the second cover C2. Further, when the cover C includes a portion of the driving portion M, the second inner wall W2 may be configured to extend over both the second cover C2 and the portion. It may be configured to be provided over the entire second cover C2 and the part.

Also, the cover C has a first hole H1, a second hole H2, and an interference portion IP.

The second hole H2 is a hole provided in the first inner wall W1 and connecting between the first inner wall W1 and the second inner wall W2. That is, the second hole H2 is provided so as to penetrate the wall positioned between the first space R1 and the second space R2 among the walls included in the first inner wall W1. In the example shown in FIG. 3, the wall is the lower wall of the second inner wall W2 and the upper wall of the first inner wall W1. In this example, the wall positioned between the first space R1 and the second space R2 among the walls included in the first inner wall W1 is part of the first cover C1.

Further, in the example shown in FIG. 3, the second hole H2 is positioned substantially directly above the first connector CN1 when the cover C is viewed from the axial direction of the rotation shaft of the driving portion M. , the wall located between the first space R1 and the second space R2 among the walls included in the first inner wall W1. Here, the fact that the second hole H2 is positioned substantially directly above the first connector CN1 means that at least a portion of the second hole H2 overlaps the first connector CN1 in this case.

When the second hole H2 is positioned almost directly above the first connector CN1, the wiring CA in the first space R1 extends from the first connector CN1, into which the second connector CN2 is inserted, toward the second hole H2. stretched. That is, the wiring CA extends from bottom to top within the first space R1. In other words, the wiring CA extends along the axial direction of the rotation shaft of the driving portion M in the first space R1. Thereby, in the encoder EC, the length of the wiring CA in the first space R1 can be shortened. Further, this allows the wiring CA to be arranged so as to be separated from the substrate BP in the encoder EC. As a result, the encoder EC can suppress contact between the wiring CA and the substrate BP in the first space R1. Note that such separation between the wiring CA and the substrate BP may be realized by a method such as clamping the wiring CA in the first space R1.

Further, when the wiring CA extends from bottom to top in the first space R1, even if the wiring CA is pulled to the outside of the cover C, the first connector CN1 is connected to the outlet of the first connector CN1. No force is applied in the direction to remove the second connector CN2. This is because the insertion opening of the first connector CN1 is the insertion opening into which the second connector CN2 is inserted along the horizontal direction. Therefore, when the wiring CA is pulled to the outside of the cover C, a rotational moment is applied to the first connector CN1 from bottom to top to rotate the first connector CN1. As a result, the encoder EC can suppress disconnection of the wire CA from the rotation angle detection unit EU in this case.

The second hole H2 is included in the first inner wall W1 so that when the cover C is viewed from the axial direction of the rotation shaft of the driving portion M, the second hole H2 is located at a position different from the position substantially directly above the first connector CN1. It may be provided in a wall located between the first space R1 and the second space R2 among the walls that are located between the first space R1 and the second space R2. Even in this case, it is desirable that the wiring CA be arranged in the first space R1 so as to be separated from the substrate BP of the rotation angle detection unit EU. This is because if the wiring CA contacts the substrate BP, the wiring CA may be disconnected. In this case, the wiring CA can be separated from the substrate BP by, for example, a method of providing a groove through which the wiring CA passes in the first space R1, a method of providing a tube through which the wiring CA passes in the first space R1, or the like.

The first hole H1 is a hole provided in the outer wall of the cover C and connected to the second space R2. That is, the first hole H1 is provided in the outer wall so as to penetrate the outer wall toward the second space R2.

Further, the first hole H1 is provided in the outer wall of the cover C so that the first hole H1 and the second hole H2 do not overlap when the cover C is viewed from the axial direction of the rotation shaft of the driving portion M. there is As a result, the encoder EC can retain in the second space R2 foreign matter that has entered the second space R2 through the first hole H1, and the foreign matter enters the first space R1 through the second hole H2. It is possible to suppress it from being lost. The foreign matter is, for example, dust, water, oil, or the like. In addition, the said foreign material is not necessarily restricted to these.

In the example shown in FIG. 3, the wall of the outer wall of the cover C in which the first hole H1 is provided is the wall of the outer wall of the cover C located on the horizontal side of the second space R2. Also, in this example, the first hole H1 is a hole surrounded by a notch provided in the first cover C1 and part of the second cover C2.

Further, the first hole H1 is positioned on a straight line passing through the first connector CN1 and the rotation shaft when the cover C is viewed from the axial direction of the rotation shaft of the driving portion M. In this case, the fact that the first hole H1 is positioned on a straight line passing through the first connector CN1 and the rotation shaft means that the first hole H1 overlaps a part of the straight line. do. In such a case, the wiring CA in the second space R2 extends substantially horizontally from the first hole H1 toward the second hole H2. This is because the wiring CA passes from the first connector CN1 through the first hole H1, the second space R2, and the second hole H2 in this order to the robot controller through the first hole H1, the second space R2, and the second hole H2. This is because it is connected to On the other hand, as described above, in the present embodiment, the wiring CA in the first space R1 extends from bottom to top. Therefore, when the wiring CA is pulled to the outside of the cover C, at least part of the tension applied to the wiring CA is distributed between the first space R1 and the second space R2 of the walls included in the first inner wall W1. Added to the wall where it is located. As a result, the encoder EC can suppress the load applied to the first connector CN1.

The wiring CA passes through the first hole H1, the second space R2, and the second hole H2 in a different order from the first connector CN1 to the second hole H2, the second space R2, and the first hole H1. It may be configured to be connected to a robot control device.

The interference part IP is provided within the second space R2. The interference part IP interferes with the wiring CA in the second space R2. Interference refers to a state of contact, or a state in which there is a gap but the gap is such that contact is possible. It also includes not only the state of continuous contact, but also the state of temporary contact. For example, the interference part IP may interfere with the wiring CA by surrounding at least part of the wiring CA in the second space R2. That is, the interference portion IP may come into contact with the wiring CA when the wiring CA is inserted through the interference portion IP. When the interference portion IP contacts the wiring CA, the interference portion IP suppresses the movement of the wiring CA by friction between the interference portion IP and the wiring CA. The movement is movement of the wiring CA when the wiring CA is pulled to the outside of the cover C. As shown in FIG. Accordingly, in this case, the interference portion IP can more reliably prevent the wire CA from being detached from the rotation angle detection portion EU. Note that the movement of the wiring CA suppressed by the interference part IP includes the movement of the wiring CA when the wiring CA is pulled to the outside of the cover C, and other movement of the wiring CA within the second space R2. It may be configured to be Hereinafter, for convenience of explanation, the movement of the wiring CA when the wiring CA is pulled to the outside of the cover C will be simply referred to as the movement of the wiring CA.

Here, FIG. 4 is a diagram showing an example of the configuration of the interference portion IP provided on the upper surface of the first cover C1 shown in FIG. The interference portion IP shown in FIG. 4 is a passage that connects the first hole H1 and the second hole H2 in the second space R2. The interference part IP shown in FIG. 4 suppresses movement of the wiring CA by friction between the passage and the wiring CA in the second space R2. In the example shown in FIG. 4, the passage is a groove provided in the surface of the first cover C1 in the surface of the second inner wall W2. In this case, the interference portion IP suppresses movement of the wiring CA by friction between the groove and the wiring CA in the second space R2. Instead of the groove, the passage may be, for example, a pipe or the like provided to connect the first hole H1 and the second hole H2 in the second space R2. Also, the passage may be a groove provided on the surface of the second cover C2 of the surface of the second inner wall W2.

When the passage connecting the first hole H1 and the second hole H2 in the second space R2 is the interference portion IP, it is desirable that the area of the wiring CA in contact with the passage is large in the interference portion IP. . This is because when the wiring CA is pulled to the outside of the cover C, the frictional force generated between the wiring CA and the passage increases. For this reason, in the example shown in FIG. 4, the passage includes a curved passage. Since the path connecting between the first hole H1 and the second hole H2 in the second space R2 includes a curved path, the interference part IP can more reliably suppress the movement of the wiring CA. . In this example, the passage connecting the first hole H1 and the second hole H2 in the second space R2 includes one curved passage. may be a configuration including two or more. Further, the passage connecting between the first hole H1 and the second hole H2 in the second space R2 may be configured so as not to include a curved passage.

Further, when the passage connecting between the first hole H1 and the second hole H2 in the second space R2 is the interference portion IP, and the passage includes a curved passage, the interference portion IP Foreign matter that enters the second space R2 through the hole H1 can be retained in the second space R2, and entry of the foreign matter into the first space R1 through the second hole H2 is more reliably suppressed. can do. In addition, the interference portion IP can suppress foreign matter from entering the first space R1 due to the contact between the interference portion IP and the wiring CA, the narrowness of the gap between the interference portion IP and the wiring CA, and the like. .

Further, when the passage connecting between the first hole H1 and the second hole H2 in the second space R2 is the interference portion IP, and the passage includes a curved passage, the radius of curvature of the curved passage is , greater than the minimum bending radius of the wiring CA. Thereby, the interfering part IP can suppress disconnection of the wiring CA caused by arranging the wiring CA in the second space R2.

Further, when the passage connecting between the first hole H1 and the second hole H2 in the second space R2 is the interference portion IP, in the interference portion IP, at least part of the passage has a larger coefficient of friction. is desirable. As a method of increasing the coefficient of friction of at least part of the passage, for example, there is a method of providing resin such as rubber on the surface of at least part of the passage. Any other method may be used to increase the coefficient of friction of at least a portion of the passage.

Here, in the example shown in FIG. 4, the passage connecting between the first hole H1 and the second hole H2 in the second space R2 is the first hole on the surface of the second inner wall W2, as described above. It is a groove provided on the surface of the cover C1. In this case, in the encoder EC, movement of the wiring CA can be suppressed only by inserting the wiring CA into the groove. That is, in the encoder EC, it is not necessary to suppress movement of the wiring CA using a grommet, binding band, or the like. Further, the wiring CA is inserted into the passage by arranging the wiring CA in the groove provided on the first cover C1 at a stage before attaching the second cover C2 to the first cover C1, and then inserting the wiring CA into the second cover C1. This can be easily done by attaching the cover C2 to the first cover C1. As a result, the encoder EC can simplify the assembling work of the encoder EC and improve the production efficiency of the encoder EC.

Note that, as shown in FIG. 5, the interference portion IP is provided in the second space R2 instead of the passage connecting the first hole H1 and the second hole H2 in the second space R2. A notch member provided between H1 and the second hole H2 may be used. FIG. 5 is a diagram showing another example of the configuration of the interference unit IP. Here, the notch member is a plate-like member having a notch. The wiring CA and the notch are in contact with each other, or a gap is provided between the wiring CA and the notch to the extent that they can be in contact with each other. In this case, the wiring CA in the second space R2 is arranged between the first hole H1 and the second hole H2 so that the wiring CA is inserted into the cutout of the cutout member. Further, in this case, the movement of the wiring CA is suppressed by the friction between the wiring CA and the notch due to the contact between the wiring CA and the notch. Further, in this case, the encoder EC can retain in the second space R2 foreign matter that has entered the second space R2 from the first hole H1 by the notch member, and the foreign matter can pass through the second hole H2. It is possible to suppress entry into the first space R1. Further, since the notch member and the wiring CA are in contact with each other or the gap is narrow, foreign matter can be prevented from further entering the first space R1. Also, in this case, the insertion of the wiring CA into the notch is performed in a stage before the second cover C2 is attached to the first cover C1. This can be easily done by inserting the CA and then attaching the second cover C2 to the first cover C1. As a result, the encoder EC can simplify the assembling work of the encoder EC even if the interference portion IP is a notched member, and can improve the production efficiency of the encoder EC.

Further, the interference part IP presses the wiring CA in the second space R2 by the elasticity of the interference part IP instead of the passage connecting the first hole H1 and the second hole H2 in the second space R2. , a compression member that suppresses movement of the wiring CA. Here, the pressing member is, for example, resin such as sponge or rubber. In this case, the movement of the wire CA is restrained by the friction between the wire CA and the compression member. Further, in this case, the encoder EC can suppress foreign matter from entering the second space R2 through the first hole H1 by the compression member. In this case, the arrangement of the wiring CA in the second space R2 is such that the wiring CA is placed on the compression member provided on the first cover C1 at a stage before the second cover C2 is attached to the first cover C1. This can be easily done by placing and then attaching the second cover C2 to the first cover C1. At this time, the wiring CA is pressed against the compression member by the second cover C2. As a result, the wiring CA is sandwiched between the compression member and the second cover C2 due to the elastic deformation of the compression member. That is, the wiring CA in the second space R2 is arranged in the second space R2 while recessing the compression member. Thereby, the encoder EC can simplify the assembling work of the encoder EC even if the interference part IP is a compression member, and can improve the production efficiency of the encoder EC.

Further, the interference portion IP may be a clamp member that clamps and interferes with the wiring CA instead of the passage that connects the first hole H1 and the second hole H2 in the second space R2. In this case, the wiring CA is arranged in the second space R2 by clamping the wiring CA with a clamp member provided on the first cover C1 before attaching the second cover C2 to the first cover C1, After that, it can be easily done by attaching the second cover C2 to the first cover C1.

<Specific example of how to assemble an encoder>
A specific example of the procedure for assembling the encoder EC will be described below with reference to FIG. FIG. 6 is a diagram showing an example of the flow of procedures for assembling the encoder EC. In addition, below, the case where the rotation angle detection part EU is already assembled and the rotation angle detection part EU is attached to the upper surface of cover MC is demonstrated. Also, hereinafter, a person who assembles the encoder EC will be referred to as an operator.

Step S110: The operator inserts the second connector CN2 into the opening of the first connector CN1.

Step S120: After step S110, the operator inserts the wiring CA through the second hole H2. Here, the procedure of step S110 and the procedure of step S120 may be performed in reverse order.

Step S130: After step S120, the operator attaches the first cover C1 to the drive unit M. More specifically, in step S130, the operator attaches the first cover C1 to the upper surface of the cover MC to cover the rotation angle detection unit EU with the first cover C1.

Step S140: After step S130, the operator arranges the wiring CA in the groove provided on the surface of the first cover C1. The groove is a passage that connects the first hole H1 and the second hole H2 in the second space R2 when the cover C is assembled. Here, in step S140, the operator pulls out the wiring CA from the notch provided in the first cover C1 toward the outside of the second space R2 in this case. The notch is a notch provided in the first cover C1, and is a notch that becomes the first hole H1 when the second cover C2 is attached to the first cover C1.

Next, the worker attaches the second cover C2 to the first cover C1 (step S150), and completes the assembly of the encoder EC.

As described above, the procedure for assembling the encoder EC does not include the procedure for attaching grommets, binding bands, etc. to the wiring CA. Thereby, the encoder EC can simplify the assembling work of the encoder EC, and can improve the production efficiency of the encoder EC.

<Modified example of embodiment>
Modifications of the embodiment will be described below.

As shown in FIGS. 7 and 8, the cover C described above may be provided with a reinforcing member for increasing rigidity. FIG. 7 is a perspective view showing an example of the cover C provided with reinforcing members. FIG. 8 is a top view showing an example of the cover C provided with reinforcing members. 7 and 8, for convenience of explanation, when the cover C is attached to the drive unit M, the direction from the drive unit M toward the cover C among the directions along the rotation axis of the drive unit M is referred to as upward or upward direction.

Each of the member RB1 and the member RB2 shown in FIGS. 7 and 8 is an example of the reinforcing member provided on the cover C. As shown in FIG. Each of the member RB1 and the member RB2 is a rib-shaped member provided on the outer wall of the cover C on the side surface side along the vertical direction. In addition, each of the members RB1 and RB2 is provided on the outer wall of the cover C so as to be included inside the outline of the drive unit M to which the cover C is attached when the cover C is viewed from above. be done. Further, in this case, the members RB1 and RB2 are provided on the outer wall of the cover C so as to be aligned substantially in a straight line across the rotation shaft of the driving portion M to which the cover C is attached.

Thereby, the encoder EC can improve the rigidity of the cover C. For example, in an experiment conducted by us, the rigidity when an external force was applied to the outer wall of the cover C was increased by 31% compared to the case where the member RB1 and the member RB2 were not provided to the cover C. It should be noted that such a rate of increase in rigidity varies depending on the size, shape, etc. of the cover C, so it is not always 31%.

7 and 8, each of the member RB1 and the member RB2 is provided on the outer wall of the first cover C1 on the side surface side of the first cover C1. This is because the side wall of the outer wall of the cover C shown in the embodiment is part of the first cover C1.

Further, each of the first hole H1 and the second hole H2 described above is included in the cover C among the portions of the wiring CA when the encoder EC is viewed from the axial direction of the rotation shaft of the drive unit M. The cover C is desirably provided such that the portion to be covered is contained within the contour of the drive portion M. As shown in FIG. As a result, it is possible to prevent the size of the encoder EC from increasing in the direction orthogonal to the axial direction of the rotation shaft. As a result, the encoder EC can prevent the drive unit M including the encoder EC from becoming large. In addition, the encoder EC can prevent the robot 1 including the encoder EC from becoming too large.

Moreover, it is desirable that the size of the second hole H2 described above is larger than the size of the second connector CN2 described above. More specifically, it is desirable that the size of the second hole H2 is larger than or equal to the size through which the second connector CN2 can be inserted. In this case, when assembling the encoder EC, the worker who assembles the encoder EC can insert the wiring CA through the second hole H2 and then arrange the wiring CA in the second space R2. That is, the encoder EC can improve the flexibility of the assembly procedure of the encoder EC.

Also, the first cover C1 described above may be composed of two or more members.

Moreover, the second cover C2 described above may be composed of two or more members.

Further, the first cover C1 and the second cover C2 described above may be configured to be fastened with dowels, or may be fastened with fastening members other than dowels, such as screws.

Further, the first cover C1 and the cover MC described above may be configured to be fastened together with screws, or may be configured to be fastened together by fastening members other than screws.

As described above, the encoder in the embodiment is an encoder that detects the rotation angle of the rotation shaft of a drive unit having a rotation shaft, and is attached to the rotation shaft of the drive unit. A rotation angle detection unit for detecting a rotation angle, a wiring connected to the rotation angle detection unit, and a cover provided with a first hole through which the wiring passes, wherein the cover is provided with a second hole. a first cover attached to the first cover; a second cover attached to the first cover; and an interfering portion provided between the first hole and the second hole for interfering with the wiring; Pass through the interference part and the second hole. This allows the encoder to simplify assembly work. As a result, the encoder can improve the production efficiency of the encoder. Here, the drive unit is the drive unit M in the example described above. Further, the rotation angle detection unit is the rotation angle detection unit EU in the example described above. Also, the wiring is the wiring CA in the example described above. Moreover, the said 1st hole is the 1st hole H1 in the example demonstrated above. Also, the cover is the cover C in the example described above. The second hole is the second hole H2 in the example described above. Also, the first cover is the first cover C1 in the example described above. Also, the second cover is the second cover C2 in the example described above. Also, the interference unit is the interference unit IP in the example described above.

Further, in the encoder, a configuration may be used in which the interference portion is a groove provided on the surface of the first cover.

Further, in the encoder, a configuration may be used in which the interference portion is a groove provided on the surface of the second cover.

The encoder may also employ a configuration in which the interfering portion includes a curved path.

Also, the encoder may employ a configuration in which the radius of curvature of the curved path is greater than the minimum bend radius of the wiring.

Also, in the encoder, a configuration may be used in which the interference portion is a notch member having a notch, and the wiring passes through the notch of the notch member.

Further, in the encoder, a configuration may be used in which the interference portion is a pressing member that presses the wiring with the interference portion.

Further, in the encoder, the wiring is connected to the first connector provided on the substrate of the rotation angle detection section, and the second hole is, in plan view from the axial direction of the rotation shaft of the drive section, Arrangements may be used that lie on a straight line through the first connector and the pivot axis. Here, the substrate is the substrate BP in the example described above. Also, the first connector is the first connector CN1 in the example described above.

Further, in the encoder, a configuration may be used in which the first hole and the second hole do not overlap in plan view from the axial direction of the rotating shaft of the drive section.

Further, the drive unit in the embodiment is a drive unit having a rotation shaft, and is attached to the rotation shaft of the drive unit and detects a rotation angle of the rotation shaft. A wire connected to the angle detection unit and a cover provided with a first hole through which the wire passes, the cover comprising a first cover provided with a second hole and a second cover attached to the first cover and an interference portion that is provided between the first hole and the second hole and interferes with the wiring, and the wiring passes through the first hole, the interference portion, and the second hole. Thereby, the drive section can simplify the assembly work. As a result, the driving section can improve the production efficiency of the driving section.

Further, in the drive section, a configuration may be used in which the interference section is a groove provided on the surface of the first cover.

Further, in the drive section, a configuration may be used in which the interference section is a groove provided on the surface of the second cover.

Also, in the driving portion, a configuration may be used in which the interfering portion includes a curved passage.

Also, in the driving section, a configuration may be used in which the radius of curvature of the curved path is greater than the minimum bending radius of the wiring.

Further, in the drive section, the interference section may be a notched member having a notch, and a configuration may be used.

Further, in the driving section, the interference section may be a pressing member that presses the wiring with the interference section.

Further, in the drive section, the wiring is connected to the first connector provided on the board of the rotation angle detection section, and the second hole is, in plan view from the axial direction of the rotation shaft of the drive section, , located on a straight line through the first connector and the pivot axis.

Further, in the driving portion, a configuration may be used in which the first hole and the second hole do not overlap in plan view from the axial direction of the rotating shaft of the driving portion.

Further, the robot in the embodiment includes a base, a movable portion supported by the base, a driving portion provided in the movable portion and having a rotation shaft, and a rotation shaft attached to the rotation shaft of the driving portion. A rotation angle detection unit for detecting the rotation angle of the shaft, wiring connected to the rotation angle detection unit, and a cover provided with a first hole through which the wiring passes, wherein the cover has a second hole. a first cover provided; a second cover attached to the first cover; and an interference portion provided between the first hole and the second hole for interfering with the wiring; It passes through the hole, the interference part, and the second hole. This allows the robot to simplify assembly work. As a result, the robot can improve its production efficiency. Here, the base is the base B in the example described above. Also, the movable portion is the movable portion A in the example described above.

Further, in the robot, a configuration may be used in which the interference portion is a groove provided on the surface of the first cover.

Further, in the robot, a configuration may be used in which the interference portion is a groove provided on the surface of the second cover.

Also, in the robot, a configuration may be used in which the interference portion includes a curved passage.

Also, in the robot, a configuration may be used in which the radius of curvature of the curved path is greater than the minimum bend radius of the wiring.

Further, in the robot, the interference part may be a notch member having a notch, and a configuration may be used.

Further, in the robot, a configuration may be used in which the interfering portion is a pressing member that presses the wiring with the interfering portion.

Further, in the robot, the wiring is connected to the first connector provided on the substrate of the rotation angle detection unit, and the second hole is, in plan view from the axial direction of the rotation shaft of the drive unit, Arrangements may be used that lie on a straight line through the first connector and the pivot axis.

Further, in the robot, a configuration may be used in which the first hole and the second hole do not overlap when viewed from above in the axial direction of the rotation shaft of the drive section.

As described above, the embodiments of the present invention have been described in detail with reference to the drawings. may be

DESCRIPTION OF SYMBOLS 1... Robot, A... Movable part, A1... 1st arm, A2... 2nd arm, AX1... 1st rotation axis, AX2... 2nd rotation axis, AX3... 3rd rotation axis, B... Base, BP... Board, C... Cover, C1... First cover, C2... Second cover, CA... Wiring, CN1... First connector, CN2... Second connector, D... Base, DC... Optical disc, EC... Encoder, EU Rotational angle detector H1 First hole H2 Second hole M Driving part M1 First driving part M2 Second driving part M3 Third driving part M4 Fourth driving Part MC... Cover R1... First space R2... Second space RB1, RB2... Member S... Shaft IP... Interference part SR... Optical element W1... First inner wall W2... Second inner wall

Claims (6)

An encoder for detecting a rotation angle of a rotation shaft of a driving unit having a rotation shaft,
a rotation angle detection unit attached to the rotation shaft of the drive unit and configured to detect the rotation angle of the rotation shaft;
wiring connected to the rotation angle detection unit;
a cover provided with a first hole through which the wiring passes;
with
The cover is
a first cover provided with a second hole and having a surface provided with a groove connected to the second hole;
a second cover attached to the first cover;
has
the wiring passes through the first hole, the groove, and the second hole,
the groove includes a tortuous passageway;
encoder. a radius of curvature of the curved passage is greater than a minimum bending radius of the wiring;
The encoder of claim 1. The wiring is connected to a first connector provided on a substrate of the rotation angle detection unit,
The second hole is positioned on a straight line passing through the first connector and the rotation shaft in plan view from the axial direction of the rotation shaft.
3. Encoder according to claim 1 or 2. The first hole and the second hole do not overlap in plan view from the axial direction of the rotation shaft,
4. An encoder according to any one of claims 1-3. A drive unit having a rotation shaft,
a rotation angle detection unit attached to the rotation shaft of the drive unit and configured to detect a rotation angle of the rotation shaft;
wiring connected to the rotation angle detection unit;
a cover provided with a first hole through which the wiring passes;
with
The cover is
a first cover provided with a second hole and having a surface provided with a groove connected to the second hole;
a second cover attached to the first cover;
has
the wiring passes through the first hole, the groove, and the second hole,
the groove includes a tortuous passageway;
Drive part. a base;
a movable part supported by the base;
a drive unit provided in the movable unit and having a rotation shaft;
a rotation angle detection unit attached to the rotation shaft of the drive unit and configured to detect a rotation angle of the rotation shaft;
wiring connected to the rotation angle detection unit;
a cover provided with a first hole through which the wiring passes;
with
The cover is
a first cover provided with a second hole and having a surface provided with a groove connected to the second hole;
a second cover attached to the first cover;
has
the wiring passes through the first hole, the groove, and the second hole,
the groove includes a tortuous passageway;
robot.

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