WO2016088425A1 - Rotary drive mechanism - Google Patents

Rotary drive mechanism Download PDF

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Publication number
WO2016088425A1
WO2016088425A1 PCT/JP2015/075801 JP2015075801W WO2016088425A1 WO 2016088425 A1 WO2016088425 A1 WO 2016088425A1 JP 2015075801 W JP2015075801 W JP 2015075801W WO 2016088425 A1 WO2016088425 A1 WO 2016088425A1
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WO
WIPO (PCT)
Prior art keywords
variable resistor
wiring board
printed wiring
connector
rotary variable
Prior art date
Application number
PCT/JP2015/075801
Other languages
French (fr)
Japanese (ja)
Inventor
誠士 森上
浩幸 岸下
吉昭 野村
Original Assignee
株式会社村田製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社村田製作所 filed Critical 株式会社村田製作所
Publication of WO2016088425A1 publication Critical patent/WO2016088425A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01C—RESISTORS
    • H01C10/00—Adjustable resistors
    • H01C10/24—Adjustable resistors the contact moving along turns of a helical resistive element, or vica versa

Definitions

  • the present invention relates to a rotational drive mechanism.
  • Patent Document 1 Japanese Patent Laid-Open No. 2000-325375
  • Patent Document 2 Japanese Patent Laid-Open No. 2000-325375
  • the finger joint was bent by pulling the finger part with the wire, or the finger joint was extended by loosening the wire.
  • the finger joint is merely bent and stretched, and the finger joint is not stopped at an arbitrary angle. Thus, it has been difficult to finely control the movement of the finger joint.
  • an object of the present invention is to provide a rotation drive mechanism that can finely control the movement of a finger joint of a robot.
  • the rotational drive mechanism of the present invention is: A first site; A second site; A connecting shaft portion rotatably connected to the first portion and the second portion, and non-rotatably attached to the first portion; At least one of the first part and the second part is connected to the connecting shaft part so as to change a central angle about the axial center of the connecting shaft part between the first part and the second part.
  • the rotary variable resistor is configured to be rotatable and has a rotor for changing an output voltage according to a rotation angle;
  • the rotor is non-rotatably attached to the connecting shaft portion so that a rotation angle of the rotor corresponds to a central angle between the first part and the second part, and
  • the shaft center is disposed coaxially with the shaft center of the connecting shaft portion.
  • the rotor is non-rotatably attached to the connecting shaft portion so that the rotational angle of the rotor corresponds to the central angle between the first part and the second part.
  • the axis of the rotor is arranged coaxially with the axis of the connecting shaft. For this reason, the rotation angle of the rotor matches the relative rotation angle of the first part with respect to the second part. Therefore, the relative rotation angle of the first part with respect to the second part can be controlled by controlling the drive unit based on the output voltage of the rotary variable resistor.
  • the rotary variable resistor can be installed in a narrow space by using a dead space. Therefore, the relative rotation of the first part and the second part can be finely controlled. For example, when the rotation drive mechanism is applied to a joint portion of a robot finger, the movement of the finger joint can be finely controlled.
  • the rotation drive mechanism of one embodiment has a control device that controls the drive unit based on the output voltage of the rotary variable resistor.
  • the rotation angle of the first part relative to the second part can be controlled using the output voltage of the rotary variable resistor. .
  • control device detects the output voltage of the rotary variable resistor and controls the drive unit so that the rotation angle of the rotor becomes a predetermined angle. Control.
  • the control device detects the output voltage of the rotary variable resistor and controls the drive unit so that the rotation angle of the rotor becomes a predetermined angle. Therefore, the rotation angle between the first part and the second part can be controlled to an arbitrary angle.
  • a printed wiring board on which the rotary variable resistor is mounted A lead wire connected to the printed wiring board;
  • the printed wiring board has wiring that is conducted to a terminal of the rotary variable resistor, The lead wire is connected to the wiring.
  • the printed wiring board has wiring that is conducted to the terminal of the rotary variable resistor, and the lead wire is connected to the wiring. Accordingly, since the lead wire is attached to the printed wiring board, the lead wire is attached more firmly than when the lead wire is directly attached to the terminal of the rotary variable resistor.
  • a printed wiring board on which the rotary variable resistor is mounted A lead portion connected to the printed wiring board;
  • the printed wiring board has a first connector that is electrically connected to a terminal of the rotary variable resistor;
  • the lead portion has a second connector and a lead wire conducted to the second connector, The first connector and the second connector are connected.
  • the printed wiring board has the first connector that is electrically connected to the terminal of the rotary variable resistor, and the lead portion is the lead that is electrically connected to the second connector and the second connector.
  • the first connector and the second connector are connected to each other. Therefore, since the lead wire is attached to the printed wiring board via the first and second connectors, the lead wire is attached more firmly than when the lead wire is directly attached to the terminal of the rotary variable resistor. .
  • the first flexible printed wiring board has the first connector that is electrically connected to the terminal of the rotary variable resistor, and the second flexible printed wiring board has the second connector.
  • the first connector and the second connector are connected. Therefore, since the second flexible printed wiring board is attached to the first flexible printed wiring board, the flexible printed wiring board is attached more firmly than when the lead wire is directly attached to the terminal of the rotary variable resistor. .
  • the rotary variable resistor is: An insulating substrate; A resistor pattern and a current collector pattern provided on the insulating substrate and spaced apart from each other; The rotor rotatably attached to the insulating substrate; A slider attached to the rotor so as to be rotatable together with the rotor, and slidingly contacting the resistor pattern and the current collector pattern to conduct the resistor pattern and the current collector pattern.
  • the maximum dimension effective as a variable resistance of the resistor pattern is equal to 4 mm or smaller than 4 mm.
  • the maximum dimension effective as the variable resistance of the resistor pattern is equal to or smaller than 4 mm. Therefore, the rotary variable resistor becomes small, and the installation space for the rotary variable resistor can be reduced.
  • the relative rotation of the first part and the second part can be finely controlled, and for example, the movement of the robot's finger joints and the like can be finely controlled.
  • FIG. 1 It is a perspective view which shows the robot carrying the rotation drive mechanism of 1st Embodiment of this invention. It is an enlarged view of a robot's finger. It is a disassembled perspective view of a rotation drive mechanism. It is a disassembled perspective view of a rotation drive mechanism. It is an exploded sectional view of a rotation drive mechanism. It is a perspective view which shows a rotation type variable resistor. It is the disassembled perspective view seen from the downward direction of a rotary variable resistor. It is an exploded perspective view seen from the upper part of a rotation type variable resistor. It is a top view which shows the state which removed the case, rotor, and slider of the rotary variable resistor.
  • FIG. 1 is a perspective view showing a robot equipped with the rotational drive mechanism of the first embodiment of the present invention.
  • the robot 1 is a humanoid and behaves based on various commands.
  • the robot 1 can move the neck, arms, legs, and the like in various directions and angles.
  • the robot 1 has a plurality of fingers 2.
  • the joint of the finger 2 can be bent and stretched.
  • FIG. 2 is an enlarged view of the finger 2 of the robot 1.
  • the finger 2 includes a first portion 21, a second portion 22, and a third portion 23 in order from the fingertip.
  • the first part 21, the second part 22, and the third part 23 are connected so as to be swingable.
  • the first portion 21 can be bent as indicated by a virtual line.
  • the connecting portion between the first portion 21 and the second portion 22 and the connecting portion between the second portion 22 and the third portion 23 correspond to the joint portion of the finger 2.
  • These connection portions are provided with a rotation drive mechanism 3.
  • FIG. 3 and 4 are exploded perspective views of the rotary drive mechanism 3.
  • FIG. FIG. 5 is an exploded cross-sectional view of the rotation drive mechanism 3. 3, 4, and 5 show the rotational drive mechanism 3 provided at the connection portion between the first portion 21 and the second portion 22 shown in FIG. 2.
  • the description is abbreviate
  • the rotation drive mechanism 3 includes a first portion 21 as a first portion, a second portion 22 as a second portion, a first portion 21, and a second portion 22.
  • a connecting shaft portion 30 that rotatably connects the drive shaft 40 to drive at least one of the first portion 21 and the second portion 22 around the axis 30a of the connecting shaft portion 30;
  • the rotary variable resistor 100 is attached, and the control device 50 controls the drive unit 40 based on the output voltage of the rotary variable resistor 100.
  • the first portion 21 has a mounting piece 210, and the mounting piece 210 has a mounting hole 210a into which the connecting shaft portion 30 is fitted.
  • the second portion 22 includes a first half 221 and a second half 222 that are separably connected to each other. The first half 221 and the second half 222 are arranged so as to sandwich the attachment piece 210.
  • the connecting shaft part 30 includes a base part 31, a gear part 32 attached to the base part 31, and a shaft 33 attached to the center of the gear part 32.
  • the base portion 31 is fitted into the attachment hole 210 a of the attachment piece 210 of the first portion 21.
  • the connecting shaft portion 30 is attached to the first portion 21 so as not to rotate, and can rotate together with the first portion 21.
  • the shaft center 30 a of the connecting shaft portion 30 coincides with the shaft center of the shaft 33.
  • the drive unit 40 is, for example, a motor.
  • the drive unit 40 is attached to the second portion 22.
  • the output shaft 41 of the drive unit 40 meshes with the reduction gear 45.
  • the reduction gear 45 is attached to the second portion 22.
  • the reduction gear 45 meshes with the gear portion 32 of the connecting shaft portion 30.
  • the drive part 40 moves the connection shaft part 30 directly via the reduction gear 45. That is, the drive unit 40 changes the first portion 21 to the second portion 22 so as to change the center angle about the axis 30a of the connecting shaft portion 30 between the first portion 21 and the second portion 22. On the other hand, it is driven around the axis 30a of the connecting shaft 30.
  • the rotary variable resistor 100 has a case 110 and a rotor 103 that is rotatably fitted in the case 110.
  • the detailed configuration of the rotary variable resistor 100 will be described later.
  • the case 110 is fitted into a fitting boss portion 223 provided inside the second half 222 of the second portion 22. Thereby, the case 110 is attached to the second half 222 so as not to rotate.
  • the rotor 103 changes the output voltage according to the rotation angle.
  • the rotor 103 is attached to the connecting shaft portion 30 so as not to rotate.
  • the rotor 103 has a mounting hole 131a at the center.
  • the shaft 33 of the connecting shaft portion 30 is inserted into the mounting hole 131 a of the rotor 103.
  • the shaft 33 and the mounting hole 131a are processed into a D-cut, and the shaft 33 and the rotor 103 rotate together.
  • the shaft center 103 a of the rotor 103 is arranged coaxially with the shaft center 30 a of the connecting shaft portion 30.
  • the tip of the shaft 33 is inserted into an insertion hole 223 a provided on the bottom surface of the fitting boss portion 223.
  • the rotor 103 rotates relative to the second portion 22 and the axis 30a of the connecting shaft portion 30. Rotate together around That is, the rotation angle of the rotor 103 corresponds to the center angle between the first portion 21 and the second portion 22.
  • the control device 50 is composed of, for example, a central processing unit.
  • the control device 50 is disposed inside the robot 1.
  • the control device 50 detects the output voltage of the rotary variable resistor 100 and controls the drive unit 40 so that the rotation angle of the rotor 103 becomes a predetermined angle.
  • the lead wire 60 is connected to the terminals 111 and 112 of the rotary variable resistor 100 by welding.
  • the lead wire 60 is connected to the control device 50.
  • the control apparatus 50 can stop the 1st part 21 with respect to the 2nd part 22 at arbitrary angles based on various instructions.
  • FIG. 6 is a perspective view showing the rotary variable resistor 100.
  • FIG. 7A is an exploded perspective view of the rotary variable resistor 100 as viewed from below.
  • FIG. 7B is an exploded perspective view of the rotary variable resistor 100 as seen from above.
  • the rotary variable resistor 100 includes an insulating substrate 102, a resistor pattern 105 and a current collector pattern 106 provided on the insulating substrate 102, and an insulating substrate 102. It has the rotor 103 attached so that rotation was possible, and the slider 104 attached to the rotor 103 so that it could rotate with the rotor 103.
  • the insulating substrate 102 is provided with first, second and third terminals 111, 112 and 113.
  • the first terminal 111 has an exposed electrode 111 a provided in the insulating substrate 102 and exposed from the insulating substrate 102.
  • the second terminal 112 has an exposed electrode 112a
  • the third terminal 113 has an exposed electrode 113a.
  • An electrode pattern 107 is provided on the insulating substrate 102.
  • the electrode pattern 107 is located between the resistor pattern 105 and the current collector pattern 106 and the exposed electrodes 111a, 112a, 113a.
  • the resistor pattern 105 and the current collector pattern 106 are electrically connected to the exposed electrodes 111a, 112a, and 113a through the electrode pattern 107.
  • the resistor pattern 105 and the exposed electrodes 111a, 112a, and 113a are interposed via the electrode pattern 107. Can be indirectly conducted, and high reliability can be secured.
  • a case 110 is detachably attached to the insulating substrate 102.
  • Case 110 covers rotor 103, slider 104, resistor pattern 105, current collector pattern 106, and electrode pattern 107.
  • FIG. 8 is a plan view showing a state in which the case 110, the rotor 103, and the slider 104 of the rotary variable resistor 100 are removed.
  • the insulating substrate 102 has a rectangular shape in plan view.
  • a hole 121 is provided in the insulating substrate 102.
  • a boss 131 of the rotor 103 is fitted in the hole 121 of the insulating substrate 102.
  • the rotor 103 rotates about the rotation axis C.
  • the insulating substrate 102 and the rotor 103 are made of resin, for example.
  • the resistor pattern 105 and the current collector pattern 106 are spaced apart from each other.
  • the resistor pattern 105 has a shape in which an annular shape around the rotation axis C is partially cut out.
  • the resistor pattern 105 has a first end 151 and a second end 152.
  • the current collector pattern 106 has an annular shape around the rotation axis C.
  • the current collector pattern 106 is located inside the resistor pattern 105.
  • the resistor pattern 105 and the current collector pattern 106 are made of the same material, for example, a material in which a phenolic resin is impregnated with carbon black.
  • the slider 104 is attached to the boss 131 and the two protrusions 132 of the rotor 103 and positioned.
  • the slider 104 is formed in a substantially annular shape.
  • the slider 104 has a first protrusion 141 and a second protrusion 142.
  • the first protrusion 141 and the second protrusion 142 are electrically connected.
  • the slider 104 is in sliding contact with the resistor pattern 105 and the current collector pattern 106 to conduct the resistor pattern 105 and the current collector pattern 106. That is, the first protrusion 141 is in sliding contact with the resistor pattern 105, and the second protrusion 142 is in sliding contact with the current collector pattern 106, so that the resistor pattern 105 and the current collector pattern 106 are electrically connected.
  • the slider 104 is made of metal, for example.
  • the electrode pattern 107 includes a first electrode part 171, a second electrode part 172, and a third electrode part 173.
  • the first electrode portion 171 overlaps and contacts the first end portion 151 of the resistor pattern 105.
  • the second electrode portion 172 overlaps and contacts the second end portion 152 of the resistor pattern 105.
  • the third electrode portion 173 is formed in an annular shape.
  • the third electrode part 173 overlaps and contacts the current collector pattern 106.
  • the electrode pattern 107 is made of metal, for example.
  • Part of the first terminal 111 and the second terminal 112 is drawn from the first side of the insulating substrate 102.
  • a part of the third terminal 113 is drawn from the second side facing the first side of the insulating substrate 102.
  • the exposed electrode 111a of the first terminal 111 overlaps and contacts the first electrode portion 171.
  • the exposed electrode 112a of the second terminal 112 is in contact with the second electrode portion 172 in an overlapping manner.
  • the exposed electrode 113a of the third terminal 113 overlaps and contacts the third electrode portion 173.
  • the first, second, and third terminals 111, 112, and 113 are made of metal, for example.
  • the first end portion 151 of the resistor pattern 105 and the exposed electrode 111a of the first terminal 111 are electrically connected via the first electrode portion 171.
  • the second end portion 152 of the resistor pattern 105 and the exposed electrode 112a of the second terminal 112 are electrically connected via the second electrode portion 172.
  • the current collector pattern 106 and the exposed electrode 113 a of the third terminal 113 are electrically connected via the third electrode portion 173.
  • FIG. 9 is an explanatory diagram for explaining the operation of the rotary variable resistor 100.
  • the slider 104 is shown in a simple shape.
  • a constant voltage Vcc is applied between the first terminal 111 and the second terminal 112.
  • Rotation of the slider 104 the voltage V 13 between the first terminal 111 and the third terminal 113 is changed. That is, the voltage V 13 changes according to the rotation angle of the slider 104. Then, by measuring this voltage V 13, it is possible to easily detect the rotation angle of the slider 104 (the rotor 103).
  • the center position between the first end 151 and the second end 152 in the resistor pattern 105 with the rotation axis C as the center is set to a central angle of 0 °.
  • the rotation angle on the second end 152 side is a positive value and the rotation angle on the first end 151 side is a negative value with the central angle 0 ° as a reference.
  • positive values are indicated as (+) and negative values are indicated as ( ⁇ ).
  • FIG. 10 is a graph showing the relationship between the output voltage ratio and the rotation angle.
  • the vertical axis represents the output voltage ratio [%]
  • the horizontal axis represents the rotation angle [°] of the slider 104 (rotor 103).
  • the output voltage ratio is (V 13 / V cc ⁇ 100).
  • the ideal value is an ideal straight line R (shown by an imaginary line)
  • the actual measurement value is an actual measurement curve W (shown by a solid line).
  • the inclination of the ideal straight line R is, for example, 100 [%] / 333.3 [°].
  • the ideal straight line R and the actual measurement curve W overlap at the intersection of the rotation angle 0 ° and the output voltage ratio 50%.
  • the maximum vertical deviation H from the ideal straight line R of the actual measurement curve W is referred to as electrical linearity (linearity) L [%].
  • L shift amount / V cc ⁇ 100.
  • the deviation amount is a voltage difference corresponding to the maximum vertical deviation H.
  • the range of the rotation angle in which the electrical linearity L is guaranteed is ⁇ 160 ° or more and + 160 ° or less.
  • the maximum dimension effective as the variable resistance of the resistor pattern 105 is Z [mm].
  • the maximum dimension Z is the maximum dimension of the outer shape of the resistor pattern 105.
  • the portion effective as the variable resistor of the resistor pattern 105 is a portion that functions as a resistor in the resistor pattern 105 and is a portion that does not overlap with the electrode patterns 171 and 172 in the resistor pattern 105.
  • the maximum dimension Z of the resistor pattern 105 is, for example, the diameter when the outer shape of the resistor pattern 105 is circular, and the long side when the outer shape of the resistor pattern 105 is rectangular.
  • the resistor pattern 105 and the current collector pattern 106 are configured by screen printing in the first direction X on the insulating substrate 102.
  • the first direction X refers to the printing direction and refers to the direction in which the paste is conveyed with a squeegee on the screen film.
  • the film thickness of the portion where the length in the direction orthogonal to the first direction X is maximum is likely to vary. For this reason, the inventor of the present application pays attention to this portion, and finds that if the variation in the film thickness of this portion is within a predetermined range, the variation in the entire film thickness of the resistor pattern 105 is reduced.
  • a straight line parallel to the first direction X and passing through the rotation axis C when viewed from the direction along the rotation axis C is defined as a first straight line M1.
  • the midpoint is the point located on the center of the width of the portion side where the length in the direction orthogonal to the first direction X of the resistor pattern 105 is maximum on the first straight line M1 (width of the top portion 155 of the resistor pattern 105).
  • M0 The maximum length of the resistor pattern 105 in the direction orthogonal to the first direction X is the length D at a position orthogonal to the first line M1 at the intersection of the first line M1 and the inner periphery of the resistor pattern 105.
  • a straight line passing through the middle point M0 and orthogonal to the first straight line M1 is defined as a second straight line M2.
  • the maximum film thickness t2 is the film thickness at the end in the direction along the second straight line M2.
  • the rotary variable resistor 100 is connected to the second portion 22 so that the central angle 0 ° (see FIG. 9) of the resistor pattern 105 matches the central angle of the movable region of the first portion 21 and the second portion 22. It is preferable to install. By doing so, the movable region of the first portion 21 and the second portion 22 can be made to correspond to the region of the resistor pattern 105, and the region of the resistor pattern 105 can be used effectively.
  • the resistance pattern 105 A region effective as a variable resistor changes.
  • the rotary variable resistor 100 is set so that the central angle of the effective region of the resistor pattern 105 as the variable resistor coincides with the central angle of the movable region of the first portion 21 and the second portion 22. Installed in the second portion 22. By doing so, the variable resistance region of the resistor pattern 105 can be used effectively.
  • variable resistance region of the resistor pattern 105 is changed to change the variable resistance region of the resistor pattern 105 to the first portion 21 and the second portion 21. This can correspond to the movable region of the portion 22.
  • the rotor 103 cannot rotate with respect to the connecting shaft portion 30 so that the rotation angle of the rotor 103 corresponds to the center angle between the first portion 21 and the second portion 22.
  • the shaft center 103 a of the rotor 103 is disposed coaxially with the shaft center 30 a of the connecting shaft portion 30.
  • the rotation angle of the rotor 103 matches the relative rotation angle of the first portion 21 with respect to the second portion 22. Therefore, the relative rotation angle of the first portion 21 with respect to the second portion 22 can be controlled by controlling the drive unit 40 based on the output voltage of the rotary variable resistor 100.
  • the rotary variable resistor 100 can be installed in a narrow space by using a dead space. Therefore, the relative rotation of the first portion 21 and the second portion 22 can be finely controlled.
  • control device 50 detects the output voltage of the rotary variable resistor 100 and controls the drive unit 40 so that the rotation angle of the rotor 103 becomes a predetermined angle. Therefore, the rotation angle between the first portion 21 and the second portion 22 can be controlled to an arbitrary angle.
  • the maximum dimension effective as the variable resistance of the resistor pattern 105 is equal to 4 mm or smaller than 4 mm. Therefore, the rotary variable resistor 100 becomes small, and the installation space for the rotary variable resistor 100 can be reduced.
  • FIG. 12 is a perspective view showing the rotation drive mechanism of the second embodiment of the present invention.
  • the second embodiment is different from the first embodiment in the mounting structure of the rotary variable resistor. This different configuration will be described below. Note that in the second embodiment, the same reference numerals as those in the first embodiment have the same configurations as those in the first embodiment, and a description thereof will be omitted.
  • the rotary variable resistor 100 is mounted on a printed wiring board 70.
  • the lead wire 60 is connected to the printed wiring board 70.
  • the printed wiring board 70 is electrically connected to the first wire 71 connected to the first terminal 111 of the rotary variable resistor 100 and the second wire 112 connected to the second terminal 112 of the rotary variable resistor 100.
  • Wiring 72 The printed wiring board 70 is provided with a through hole 72 at a position corresponding to each of the first wiring 71 and the second wiring 72.
  • the lead wire 60 is welded to each through hole 72 and connected to each of the first wiring 71 and the second wiring 72.
  • the wiring that is conducted to the third terminal 113 (FIG. 7B) of the rotary variable resistor 100 is omitted.
  • the lead wire 60 is attached to the printed wiring board 70, the lead wire 60 is compared with the case where the lead wire 60 is directly attached to the terminals 111, 112, 113 of the rotary variable resistor 100. The attachment of 60 becomes firm.
  • FIG. 13A is a plan view showing a rotational drive mechanism of a third embodiment of the present invention.
  • FIG. 13B is a perspective view showing the rotation drive mechanism of the third embodiment of the present invention.
  • the third embodiment is different from the first embodiment in the mounting structure of the rotary variable resistor. This different configuration will be described below. Note that in the third embodiment, the same reference numerals as those in the first embodiment have the same configurations as those in the first embodiment, and a description thereof will be omitted.
  • the rotary variable resistor 100 is mounted on a printed wiring board 70A.
  • the lead portion 80 is connected to the printed wiring board 70A.
  • the printed wiring board 70 ⁇ / b> A has a first connector 76 that is electrically connected to the terminals 111, 112, and 113 of the rotary variable resistor 100.
  • the rotary variable resistor 100 is disposed on the front surface of the printed wiring board 70A, and the first connector 76 is disposed on the back surface of the printed wiring board 70A.
  • the printed wiring board 70 ⁇ / b> A includes a first wiring 71 that is conductive to the first terminal 111, a second wiring 72 that is conductive to the second terminal 112, and a third wiring 73 that is conductive to the third terminal 113.
  • the first, second, and third wirings 71, 72, and 73 are provided on the front surface and the back surface of the printed wiring board 70A through the through holes 72, respectively.
  • the first connector 76 includes a first terminal 761, a second terminal 762, and a third terminal 763.
  • the first terminal 761 is electrically connected to the first wire 71
  • the second terminal 762 is electrically connected to the second wire 72
  • the third terminal 763 is electrically connected to the third wire 73. That is, the first terminal 761 is electrically connected to the first terminal 111 of the rotary variable resistor 100
  • the second terminal 762 is electrically connected to the second terminal 112 of the rotary variable resistor 100
  • the third terminal 763 is It is electrically connected to the third terminal 113 of the rotary variable resistor 100.
  • the lead portion 80 includes a second connector 81 and a lead wire 60 that is electrically connected to the second connector 81.
  • the second connector 81 has three terminals (not shown), and each terminal is electrically connected to the lead wire 60.
  • the first connector 76 and the second connector 81 are detachably connected.
  • the first connector 76 is a female type
  • the second connector 81 is a male type.
  • the first connector 76 may be a male type
  • the second connector 81 may be a female type.
  • the lead wire 60 is attached to the printed wiring board 70A via the first and second connectors 76 and 81, the lead wire 60 is connected to the terminals 111, 112, and 112 of the rotary variable resistor 100. Compared with the case of attaching directly to 113, the attachment of the lead wire 60 becomes stronger.
  • FIG. 14 is a perspective view showing the rotational drive mechanism of the fourth embodiment of the present invention.
  • the fourth embodiment is different from the first embodiment in the mounting structure of the rotary variable resistor. This different configuration will be described below.
  • symbol same as 1st Embodiment is the same structure as 1st Embodiment, the description is abbreviate
  • the rotary variable resistor 100 is mounted on the first flexible printed wiring board 91.
  • a second flexible printed wiring board 92 is connected to the first flexible printed wiring board 91.
  • the first flexible printed wiring board 91 has a first connector 910 that is electrically connected to the terminals 111, 112, and 113 of the rotary variable resistor 100.
  • the first connector 910 is provided on one side of the first flexible printed wiring board 91.
  • the first flexible printed wiring board 91 includes a first wiring 911 that is conductive to the first terminal 111, a second wiring 912 that is conductive to the second terminal 112, and a third wiring 913 that is conductive to the third terminal 113.
  • the first connector 910 corresponds to an end portion of the first wiring 911, an end portion of the second wiring 912, and an end portion of the third wiring 913.
  • the second flexible printed wiring board 92 has a second connector 920.
  • the second connector 920 has three wirings (not shown).
  • the first connector 910 and the second connector 920 are detachably connected.
  • the first connector 910 is male and the second connector 920 is female.
  • the first connector 910 may be a female type, and the second connector 920 may be a male type.
  • the first, second, and third wirings 911, 912, and 913 of the first connector 910 are connected to the three wirings of the second connector 920, respectively. Conducted.
  • the lead wires are attached directly to the terminals 111, 112, 113 of the rotary variable resistor 100. Compared to the above, the attachment of the second flexible printed wiring board 92 is strengthened.
  • the present invention is not limited to the above-described embodiment, and the design can be changed without departing from the gist of the present invention.
  • the feature points of the first to fourth embodiments may be variously combined.
  • the first part is the first part and the second part is the second part.
  • the first part may be the second part and the second part may be the first part, or the first part. May be one of the second part or the third part, and the second part may be the other of the second part or the third part.
  • the drive unit is a motor.
  • the drive unit may be a wire or a telescopic rod.
  • the first part or the second part is moved directly without moving the connecting shaft part directly. May be.
  • the first part is driven by the drive unit, but at least one of the first part and the second part may be driven.
  • the rotary variable resistor has a case where the outer shape of the resistor pattern is a circle, but the outer shape of the resistor pattern may be an ellipse, a rectangle, or another polygon.
  • Z ⁇ 4.0, Z ⁇ L ⁇ 10, and 1.0 ⁇ (t2 / t1) ⁇ 1.2 are satisfied. Either of them may be satisfied.
  • the rotational drive mechanism of the present invention is used for a joint part of a robot finger, but it may be used for a joint part such as a neck, arm, or leg of the robot. Moreover, you may use the rotational drive mechanism of this invention for all the rotatable parts, such as the swinging part of the surveillance camera, and the swinging part of the flap of an air-conditioner.

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Abstract

This rotary drive mechanism has: a first portion; a second portion; a coupling shaft part that couples the first portion and the second portion; a drive part for driving the first portion around the shaft center of the coupling shaft part relative to the second portion; and a rotary type variable resistor attached to the coupling shaft part. The rotary type variable resistor has a rotor that is configured to be rotatable and that causes an output voltage to be changed according to a rotation angle. The rotor is attached to the coupling shaft part in a non-rotatable manner, and the shaft center of the rotor and the shaft center of the coupling shaft part are coaxially disposed.

Description

回転駆動機構Rotation drive mechanism
　本発明は、回転駆動機構に関する。 The present invention relates to a rotational drive mechanism.
　従来、ロボットの指の関節を動かすための回転駆動機構としては、特開２０００－３２５３７５号公報（特許文献１）に記載されたものがあり、ワイヤーを用いていた。つまり、ワイヤーで指の部位を引っ張ることで指の関節を曲げ、または、ワイヤーを緩めることで指の関節を伸ばしていた。このように、従来では、指の関節の曲げ伸ばしを行うのみで、指の関節を任意の角度で停止することは行われていなかった。このように、指の関節の動きを細かに制御することは、困難であった。 Conventionally, as a rotational drive mechanism for moving a finger joint of a robot, there is one described in Japanese Patent Laid-Open No. 2000-325375 (Patent Document 1), and a wire has been used. In other words, the finger joint was bent by pulling the finger part with the wire, or the finger joint was extended by loosening the wire. As described above, conventionally, the finger joint is merely bent and stretched, and the finger joint is not stopped at an arbitrary angle. Thus, it has been difficult to finely control the movement of the finger joint.
　ここで、何らかのセンサーを用いることが考えられるが、センサーを取り付けるためのスペースが必要となる問題が生じ、特に、ロボットが小型になると、その問題が顕著となる。 Here, it is conceivable to use some kind of sensor, but there arises a problem that a space for mounting the sensor is required. In particular, the problem becomes conspicuous when the robot becomes small.
特開２０００－３２５３７５号公報JP 2000-325375 A
　そこで、本発明の課題は、ロボットの指の関節などの動きを細かに制御することができる回転駆動機構を提供することにある。 Therefore, an object of the present invention is to provide a rotation drive mechanism that can finely control the movement of a finger joint of a robot.
　前記課題を解決するため、本発明の回転駆動機構は、
　第１部位と、
　第２部位と、
　前記第１部位と前記第２部位とを回転可能に連結すると共に、前記第１部位に回転不能に取り付けられる連結軸部と、
　前記第１部位と前記第２部位との間の前記連結軸部の軸心を中心とする中心角度を変化させるように、前記第１部位と前記第２部位との少なくとも一方を前記連結軸部の軸心を中心として駆動させる駆動部と、
　前記連結軸部に取り付けられる回転型可変抵抗器と
を備え、
　前記回転型可変抵抗器は、回転可能に構成されると共に回転角度に応じて出力電圧を変化させるための回転子を有し、
　前記回転子の回転角度が、前記第１部位と前記第２部位との間の中心角度に対応するように、前記回転子は、前記連結軸部に回転不能に取り付けられると共に、前記回転子の軸心は、前記連結軸部の軸心と同軸に配置される。 In order to solve the above problems, the rotational drive mechanism of the present invention is:
A first site;
A second site;
A connecting shaft portion rotatably connected to the first portion and the second portion, and non-rotatably attached to the first portion;
At least one of the first part and the second part is connected to the connecting shaft part so as to change a central angle about the axial center of the connecting shaft part between the first part and the second part. A drive unit for driving around the axis of
A rotary variable resistor attached to the connecting shaft portion;
The rotary variable resistor is configured to be rotatable and has a rotor for changing an output voltage according to a rotation angle;
The rotor is non-rotatably attached to the connecting shaft portion so that a rotation angle of the rotor corresponds to a central angle between the first part and the second part, and The shaft center is disposed coaxially with the shaft center of the connecting shaft portion.
　本発明の回転駆動機構によれば、回転子の回転角度が、第１部位と第２部位との間の中心角度に対応するように、回転子は、連結軸部に回転不能に取り付けられると共に、回転子の軸心は、連結軸部の軸心と同軸に配置される。このため、回転子の回転角度は、第１部位の第２部位に対する相対的な回転角度に一致する。したがって、回転型可変抵抗器の出力電圧に基づいて駆動部を制御することで、第１部位の第２部位に対する相対的な回転角度を制御することができる。また、回転子は、連結軸部に直接に取り付けられているので、デッドスペースを利用して、回転型可変抵抗器を狭小な空間に設置することができる。したがって、第１部位と第２部位の相対的な回転を細かに制御することができる。例えば、回転駆動機構をロボットの指の関節部分に適用した場合、指の関節の動きを細かに制御することができる。 According to the rotational drive mechanism of the present invention, the rotor is non-rotatably attached to the connecting shaft portion so that the rotational angle of the rotor corresponds to the central angle between the first part and the second part. The axis of the rotor is arranged coaxially with the axis of the connecting shaft. For this reason, the rotation angle of the rotor matches the relative rotation angle of the first part with respect to the second part. Therefore, the relative rotation angle of the first part with respect to the second part can be controlled by controlling the drive unit based on the output voltage of the rotary variable resistor. Further, since the rotor is directly attached to the connecting shaft portion, the rotary variable resistor can be installed in a narrow space by using a dead space. Therefore, the relative rotation of the first part and the second part can be finely controlled. For example, when the rotation drive mechanism is applied to a joint portion of a robot finger, the movement of the finger joint can be finely controlled.
　また、一実施形態の回転駆動機構では、前記回転型可変抵抗器の出力電圧に基づいて前記駆動部を制御する制御装置を有する。 Also, the rotation drive mechanism of one embodiment has a control device that controls the drive unit based on the output voltage of the rotary variable resistor.
　前記実施形態の回転駆動機構によれば、制御装置を有するので、回転型可変抵抗器の出力電圧を利用して、第１部位の第２部位に対する相対的な回転角度の制御を行うことができる。 According to the rotation drive mechanism of the embodiment, since the control device is provided, the rotation angle of the first part relative to the second part can be controlled using the output voltage of the rotary variable resistor. .
　また、一実施形態の回転駆動機構では、前記制御装置は、前記回転型可変抵抗器の出力電圧を検出して、前記回転子の回転角度が予め定めた角度となるように、前記駆動部を制御する。 In one embodiment, the control device detects the output voltage of the rotary variable resistor and controls the drive unit so that the rotation angle of the rotor becomes a predetermined angle. Control.
　前記実施形態の回転駆動機構によれば、制御装置は、回転型可変抵抗器の出力電圧を検出して、回転子の回転角度が予め定めた角度となるように、駆動部を制御する。したがって、第１部位と第２部位との回転角度を任意の角度に制御することができる。 According to the rotation drive mechanism of the above embodiment, the control device detects the output voltage of the rotary variable resistor and controls the drive unit so that the rotation angle of the rotor becomes a predetermined angle. Therefore, the rotation angle between the first part and the second part can be controlled to an arbitrary angle.
　また、一実施形態の回転駆動機構では、
　前記回転型可変抵抗器を搭載するプリント配線基板と、
　前記プリント配線基板に接続されるリード線と
を有し、
　前記プリント配線基板は、前記回転型可変抵抗器の端子に導通される配線を有し、
　前記リード線は、前記配線に接続される。 Moreover, in the rotational drive mechanism of one embodiment,
A printed wiring board on which the rotary variable resistor is mounted;
A lead wire connected to the printed wiring board;
The printed wiring board has wiring that is conducted to a terminal of the rotary variable resistor,
The lead wire is connected to the wiring.
　前記実施形態の回転駆動機構によれば、プリント配線基板は、回転型可変抵抗器の端子に導通される配線を有し、リード線は、配線に接続される。したがって、リード線をプリント配線基板に取り付けているので、リード線を回転型可変抵抗器の端子に直接に取り付ける場合に比べて、リード線の取り付けが強固になる。 According to the rotational drive mechanism of the above embodiment, the printed wiring board has wiring that is conducted to the terminal of the rotary variable resistor, and the lead wire is connected to the wiring. Accordingly, since the lead wire is attached to the printed wiring board, the lead wire is attached more firmly than when the lead wire is directly attached to the terminal of the rotary variable resistor.
　また、一実施形態の回転駆動機構では、
　前記回転型可変抵抗器を搭載するプリント配線基板と、
　前記プリント配線基板に接続されるリード部と
を有し、
　前記プリント配線基板は、前記回転型可変抵抗器の端子に導通される第１コネクタを有し、
　前記リード部は、第２コネクタと前記第２コネクタに導通されるリード線とを有し、
　前記第１コネクタと前記第２コネクタとは、接続される。 Moreover, in the rotational drive mechanism of one embodiment,
A printed wiring board on which the rotary variable resistor is mounted;
A lead portion connected to the printed wiring board;
The printed wiring board has a first connector that is electrically connected to a terminal of the rotary variable resistor;
The lead portion has a second connector and a lead wire conducted to the second connector,
The first connector and the second connector are connected.
　前記実施形態の回転駆動機構によれば、プリント配線基板は、回転型可変抵抗器の端子に導通される第１コネクタを有し、リード部は、第２コネクタと第２コネクタに導通されるリード線とを有し、第１コネクタと第２コネクタとは、接続される。したがって、リード線を第１、第２コネクタを介してプリント配線基板に取り付けているので、リード線を回転型可変抵抗器の端子に直接に取り付ける場合に比べて、リード線の取り付けが強固になる。 According to the rotation drive mechanism of the embodiment, the printed wiring board has the first connector that is electrically connected to the terminal of the rotary variable resistor, and the lead portion is the lead that is electrically connected to the second connector and the second connector. The first connector and the second connector are connected to each other. Therefore, since the lead wire is attached to the printed wiring board via the first and second connectors, the lead wire is attached more firmly than when the lead wire is directly attached to the terminal of the rotary variable resistor. .
　また、一実施形態の回転駆動機構では、
　前記回転型可変抵抗器を搭載する第１フレキシブルプリント配線基板と、
　前記第１フレキシブルプリント配線基板に接続される第２フレキシブルプリント配線基板と
を有し、
　前記第１フレキシブルプリント配線基板は、前記回転型可変抵抗器の端子に導通される第１コネクタを有し、
　前記第２フレキシブルプリント配線基板は、第２コネクタを有し、
　前記第１コネクタと前記第２コネクタとは、接続される。 Moreover, in the rotational drive mechanism of one embodiment,
A first flexible printed wiring board on which the rotary variable resistor is mounted;
A second flexible printed wiring board connected to the first flexible printed wiring board;
The first flexible printed wiring board has a first connector connected to a terminal of the rotary variable resistor,
The second flexible printed wiring board has a second connector,
The first connector and the second connector are connected.
　前記実施形態の回転駆動機構によれば、第１フレキシブルプリント配線基板は、回転型可変抵抗器の端子に導通される第１コネクタを有し、第２フレキシブルプリント配線基板は、第２コネクタを有し、第１コネクタと第２コネクタとは、接続される。したがって、第２フレキシブルプリント配線基板を第１フレキシブルプリント配線基板に取り付けているので、リード線を回転型可変抵抗器の端子に直接に取り付ける場合に比べて、フレキシブルプリント配線基板の取り付けが強固になる。 According to the rotational drive mechanism of the embodiment, the first flexible printed wiring board has the first connector that is electrically connected to the terminal of the rotary variable resistor, and the second flexible printed wiring board has the second connector. The first connector and the second connector are connected. Therefore, since the second flexible printed wiring board is attached to the first flexible printed wiring board, the flexible printed wiring board is attached more firmly than when the lead wire is directly attached to the terminal of the rotary variable resistor. .
　また、一実施形態の回転駆動機構では、
　前記回転型可変抵抗器は、
　絶縁基板と、
　前記絶縁基板上に設けられ、互いに離隔して配置される抵抗体パターンおよび集電体パターンと、
　前記絶縁基板に回転可能に取り付けられる前記回転子と、
　前記回転子と共に回転可能となるように前記回転子に取り付けられ、前記抵抗体パターンおよび前記集電体パターンに摺接して前記抵抗体パターンと前記集電体パターンとを導通する摺動子と
を有し、
　前記抵抗体パターンの可変抵抗として有効な最大寸法は、４ｍｍと同等であるか、もしくは、４ｍｍよりも小さい。 Moreover, in the rotational drive mechanism of one embodiment,
The rotary variable resistor is:
An insulating substrate;
A resistor pattern and a current collector pattern provided on the insulating substrate and spaced apart from each other;
The rotor rotatably attached to the insulating substrate;
A slider attached to the rotor so as to be rotatable together with the rotor, and slidingly contacting the resistor pattern and the current collector pattern to conduct the resistor pattern and the current collector pattern. Have
The maximum dimension effective as a variable resistance of the resistor pattern is equal to 4 mm or smaller than 4 mm.
　前記実施形態の回転駆動機構によれば、抵抗体パターンの可変抵抗として有効な最大寸法は、４ｍｍと同等であるか、もしくは、４ｍｍよりも小さい。したがって、回転型可変抵抗器は小型となり、回転型可変抵抗器の設置スペースを小さくできる。 According to the rotational drive mechanism of the above embodiment, the maximum dimension effective as the variable resistance of the resistor pattern is equal to or smaller than 4 mm. Therefore, the rotary variable resistor becomes small, and the installation space for the rotary variable resistor can be reduced.
　本発明の回転駆動機構によれば、第１部位と第２部位の相対的な回転を細かに制御することができ、例えば、ロボットの指の関節などの動きを細かに制御することができる。 According to the rotational drive mechanism of the present invention, the relative rotation of the first part and the second part can be finely controlled, and for example, the movement of the robot's finger joints and the like can be finely controlled.
本発明の第１実施形態の回転駆動機構を搭載したロボットを示す斜視図である。It is a perspective view which shows the robot carrying the rotation drive mechanism of 1st Embodiment of this invention. ロボットの指の拡大図である。It is an enlarged view of a robot's finger. 回転駆動機構の分解斜視図である。It is a disassembled perspective view of a rotation drive mechanism. 回転駆動機構の分解斜視図である。It is a disassembled perspective view of a rotation drive mechanism. 回転駆動機構の分解断面図である。It is an exploded sectional view of a rotation drive mechanism. 回転型可変抵抗器を示す斜視図である。It is a perspective view which shows a rotation type variable resistor. 回転型可変抵抗器の下方からみた分解斜視図である。It is the disassembled perspective view seen from the downward direction of a rotary variable resistor. 回転型可変抵抗器の上方からみた分解斜視図である。It is an exploded perspective view seen from the upper part of a rotation type variable resistor. 回転型可変抵抗器のケース、回転子および摺動子を取り除いた状態を示す平面図である。It is a top view which shows the state which removed the case, rotor, and slider of the rotary variable resistor. 回転型可変抵抗器の動作を説明する説明図である。It is explanatory drawing explaining operation | movement of a rotary variable resistor. 出力電圧比と回転角度との関係を示すグラフである。It is a graph which shows the relationship between output voltage ratio and a rotation angle. 回転型可変抵抗器の頂部の第１方向に直交する平面における断面図である。It is sectional drawing in the plane orthogonal to the 1st direction of the top part of a rotary variable resistor. 本発明の第２実施形態の回転駆動機構を示す斜視図である。It is a perspective view which shows the rotational drive mechanism of 2nd Embodiment of this invention. 本発明の第３実施形態の回転駆動機構を示す平面図である。It is a top view which shows the rotational drive mechanism of 3rd Embodiment of this invention. 本発明の第３実施形態の回転駆動機構を示す斜視図である。It is a perspective view which shows the rotational drive mechanism of 3rd Embodiment of this invention. 本発明の第４実施形態の回転駆動機構を示す斜視図である。It is a perspective view which shows the rotational drive mechanism of 4th Embodiment of this invention.
　以下、本発明を図示の実施の形態により詳細に説明する。 Hereinafter, the present invention will be described in detail with reference to the illustrated embodiments.
　（第１実施形態）
　図１は、本発明の第１実施形態の回転駆動機構を搭載したロボットを示す斜視図である。図１に示すように、ロボット１は、人型であり、様々な命令に基づいて行動する。ロボット１は、首や腕や足などを様々な方向や角度に動かすことができる。ロボット１は、複数の指２を有する。指２の関節は、曲げ伸ばし可能である。 (First embodiment)
FIG. 1 is a perspective view showing a robot equipped with the rotational drive mechanism of the first embodiment of the present invention. As shown in FIG. 1, the robot 1 is a humanoid and behaves based on various commands. The robot 1 can move the neck, arms, legs, and the like in various directions and angles. The robot 1 has a plurality of fingers 2. The joint of the finger 2 can be bent and stretched.
　図２は、ロボット１の指２の拡大図である。図２に示すように、指２は、指先から順に、第１部分２１と第２部分２２と第３部分２３とを有する。第１部分２１と第２部分２２と第３部分２３とは、それぞれ、揺動可能に接続されている。例えば、第１部分２１は、仮想線に示すように、折り曲げ可能である。第１部分２１と第２部分２２との接続部分、および、第２部分２２と第３部分２３との接続部分は、指２の関節部分に相当する。これらの接続部分には、回転駆動機構３が設けられている。 FIG. 2 is an enlarged view of the finger 2 of the robot 1. As shown in FIG. 2, the finger 2 includes a first portion 21, a second portion 22, and a third portion 23 in order from the fingertip. The first part 21, the second part 22, and the third part 23 are connected so as to be swingable. For example, the first portion 21 can be bent as indicated by a virtual line. The connecting portion between the first portion 21 and the second portion 22 and the connecting portion between the second portion 22 and the third portion 23 correspond to the joint portion of the finger 2. These connection portions are provided with a rotation drive mechanism 3.
　図３と図４は、回転駆動機構３の分解斜視図である。図５は、回転駆動機構３の分解断面図である。図３と図４と図５では、図２に示す第１部分２１と第２部分２２との接続部分に設けられている回転駆動機構３を示している。なお、第２部分２２と第３部分２３との接続部分に設けられている回転駆動機構３については、同様であるため、その説明を省略する。 3 and 4 are exploded perspective views of the rotary drive mechanism 3. FIG. FIG. 5 is an exploded cross-sectional view of the rotation drive mechanism 3. 3, 4, and 5 show the rotational drive mechanism 3 provided at the connection portion between the first portion 21 and the second portion 22 shown in FIG. 2. In addition, since it is the same about the rotational drive mechanism 3 provided in the connection part of the 2nd part 22 and the 3rd part 23, the description is abbreviate | omitted.
　図３と図４と図５に示すように、回転駆動機構３は、第１部位としての第１部分２１と、第２部位としての第２部分２２と、第１部分２１と第２部分２２とを回転可能に連結する連結軸部３０と、第１部分２１と第２部分２２との少なくとも一方を連結軸部３０の軸心３０ａを中心として駆動させる駆動部４０と、連結軸部３０に取り付けられる回転型可変抵抗器１００と、回転型可変抵抗器１００の出力電圧に基づいて駆動部４０を制御する制御装置５０とを有する。 As shown in FIGS. 3, 4, and 5, the rotation drive mechanism 3 includes a first portion 21 as a first portion, a second portion 22 as a second portion, a first portion 21, and a second portion 22. A connecting shaft portion 30 that rotatably connects the drive shaft 40 to drive at least one of the first portion 21 and the second portion 22 around the axis 30a of the connecting shaft portion 30; The rotary variable resistor 100 is attached, and the control device 50 controls the drive unit 40 based on the output voltage of the rotary variable resistor 100.
　第１部分２１は、取付片２１０を有し、取付片２１０は、連結軸部３０を嵌め込む取付孔２１０ａを有する。第２部分２２は、互いに分離可能に接続される第１半割体２２１および第２半割体２２２を有する。第１半割体２２１と第２半割体２２２とは、取付片２１０を挟むように配置される。 The first portion 21 has a mounting piece 210, and the mounting piece 210 has a mounting hole 210a into which the connecting shaft portion 30 is fitted. The second portion 22 includes a first half 221 and a second half 222 that are separably connected to each other. The first half 221 and the second half 222 are arranged so as to sandwich the attachment piece 210.
　連結軸部３０は、台部３１と、台部３１に取り付けられるギア部３２と、ギア部３２の中心に取り付けられる軸３３とを有する。台部３１は、第１部分２１の取付片２１０の取付孔２１０ａに嵌め込まれる。このため、連結軸部３０は、第１部分２１に回転不能に取り付けられ、第１部分２１と共に回転可能となる。連結軸部３０の軸心３０ａは、軸３３の軸心に一致する。 The connecting shaft part 30 includes a base part 31, a gear part 32 attached to the base part 31, and a shaft 33 attached to the center of the gear part 32. The base portion 31 is fitted into the attachment hole 210 a of the attachment piece 210 of the first portion 21. For this reason, the connecting shaft portion 30 is attached to the first portion 21 so as not to rotate, and can rotate together with the first portion 21. The shaft center 30 a of the connecting shaft portion 30 coincides with the shaft center of the shaft 33.
　駆動部４０は、例えば、モータである。駆動部４０は、第２部分２２に取り付けられる。駆動部４０の出力軸４１は、減速ギア４５に噛合する。減速ギア４５は、第２部分２２に取り付けられている。減速ギア４５は、連結軸部３０のギア部３２に噛合する。これにより、駆動部４０は、減速ギア４５を介して、連結軸部３０を直接に動かす。つまり、駆動部４０は、第１部分２１と第２部分２２との間の連結軸部３０の軸心３０ａを中心とする中心角度を変化させるように、第１部分２１を第２部分２２に対して連結軸部３０の軸心３０ａを中心として駆動させる。 The drive unit 40 is, for example, a motor. The drive unit 40 is attached to the second portion 22. The output shaft 41 of the drive unit 40 meshes with the reduction gear 45. The reduction gear 45 is attached to the second portion 22. The reduction gear 45 meshes with the gear portion 32 of the connecting shaft portion 30. Thereby, the drive part 40 moves the connection shaft part 30 directly via the reduction gear 45. That is, the drive unit 40 changes the first portion 21 to the second portion 22 so as to change the center angle about the axis 30a of the connecting shaft portion 30 between the first portion 21 and the second portion 22. On the other hand, it is driven around the axis 30a of the connecting shaft 30.
　回転型可変抵抗器１００は、ケース１１０と、ケース１１０に回転可能に嵌め込まれる回転子１０３とを有する。なお、回転型可変抵抗器１００の詳細な構成は、後述する。 The rotary variable resistor 100 has a case 110 and a rotor 103 that is rotatably fitted in the case 110. The detailed configuration of the rotary variable resistor 100 will be described later.
　ケース１１０は、第２部分２２の第２半割体２２２の内部に設けられた嵌込ボス部２２３に、嵌め込まれる。これにより、ケース１１０は、第２半割体２２２に回転不能に取り付けられる。 The case 110 is fitted into a fitting boss portion 223 provided inside the second half 222 of the second portion 22. Thereby, the case 110 is attached to the second half 222 so as not to rotate.
　回転子１０３は、回転角度に応じて出力電圧を変化させるようにする。回転子１０３は、連結軸部３０に回転不能に取り付けられる。回転子１０３は、中心に取付孔１３１ａを有する。連結軸部３０の軸３３は、回転子１０３の取付孔１３１ａに差し込まれる。軸３３および取付孔１３１ａは、Ｄカットに加工され、軸３３および回転子１０３は、共回りする。回転子１０３の軸心１０３ａは、連結軸部３０の軸心３０ａと同軸に配置される。軸３３の先端は、嵌込ボス部２２３の底面に設けられた差込孔２２３ａに差し込まれる。 The rotor 103 changes the output voltage according to the rotation angle. The rotor 103 is attached to the connecting shaft portion 30 so as not to rotate. The rotor 103 has a mounting hole 131a at the center. The shaft 33 of the connecting shaft portion 30 is inserted into the mounting hole 131 a of the rotor 103. The shaft 33 and the mounting hole 131a are processed into a D-cut, and the shaft 33 and the rotor 103 rotate together. The shaft center 103 a of the rotor 103 is arranged coaxially with the shaft center 30 a of the connecting shaft portion 30. The tip of the shaft 33 is inserted into an insertion hole 223 a provided on the bottom surface of the fitting boss portion 223.
　これにより、第１部分２１が、第２部分２２に対して連結軸部３０の軸心３０ａを中心として回転すると、回転子１０３は、第２部分２２に対して連結軸部３０の軸心３０ａを中心として共に回転する。つまり、回転子１０３の回転角度は、第１部分２１と第２部分２２との間の中心角度に対応する。 Accordingly, when the first portion 21 rotates about the axis 30a of the connecting shaft portion 30 with respect to the second portion 22, the rotor 103 rotates relative to the second portion 22 and the axis 30a of the connecting shaft portion 30. Rotate together around That is, the rotation angle of the rotor 103 corresponds to the center angle between the first portion 21 and the second portion 22.
　制御装置５０は、例えば、中央処理装置から構成される。制御装置５０は、ロボット１の内部に配置されている。制御装置５０は、回転型可変抵抗器１００の出力電圧を検出して、回転子１０３の回転角度が予め定めた角度となるように、駆動部４０を制御する。具体的に述べると、回転型可変抵抗器１００の端子１１１，１１２には、リード線６０が溶接により接続される。リード線６０は、制御装置５０に接続される。そして、制御装置５０は、様々な命令に基づいて、第１部分２１を第２部分２２に対して任意の角度で停止することができる。 The control device 50 is composed of, for example, a central processing unit. The control device 50 is disposed inside the robot 1. The control device 50 detects the output voltage of the rotary variable resistor 100 and controls the drive unit 40 so that the rotation angle of the rotor 103 becomes a predetermined angle. Specifically, the lead wire 60 is connected to the terminals 111 and 112 of the rotary variable resistor 100 by welding. The lead wire 60 is connected to the control device 50. And the control apparatus 50 can stop the 1st part 21 with respect to the 2nd part 22 at arbitrary angles based on various instructions.
　図６は、回転型可変抵抗器１００を示す斜視図である。図７Ａは、回転型可変抵抗器１００の下方からみた分解斜視図である。図７Ｂは、回転型可変抵抗器１００の上方からみた分解斜視図である。 FIG. 6 is a perspective view showing the rotary variable resistor 100. FIG. 7A is an exploded perspective view of the rotary variable resistor 100 as viewed from below. FIG. 7B is an exploded perspective view of the rotary variable resistor 100 as seen from above.
　図６と図７Ａと図７Ｂに示すように、回転型可変抵抗器１００は、絶縁基板１０２と、絶縁基板１０２上に設けられた抵抗体パターン１０５および集電体パターン１０６と、絶縁基板１０２に回転可能に取り付けられた回転子１０３と、回転子１０３と共に回転可能となるように回転子１０３に取り付けられた摺動子１０４とを有する。 As shown in FIGS. 6, 7A, and 7B, the rotary variable resistor 100 includes an insulating substrate 102, a resistor pattern 105 and a current collector pattern 106 provided on the insulating substrate 102, and an insulating substrate 102. It has the rotor 103 attached so that rotation was possible, and the slider 104 attached to the rotor 103 so that it could rotate with the rotor 103. FIG.
　絶縁基板１０２には、第１と第２と第３端子１１１，１１２，１１３が設けられている。第１端子１１１は、絶縁基板１０２内に設けられ絶縁基板１０２上から露出する露出電極１１１ａを有する。同様に、第２端子１１２は、露出電極１１２ａを有し、第３端子１１３は、露出電極１１３ａを有する。 The insulating substrate 102 is provided with first, second and third terminals 111, 112 and 113. The first terminal 111 has an exposed electrode 111 a provided in the insulating substrate 102 and exposed from the insulating substrate 102. Similarly, the second terminal 112 has an exposed electrode 112a, and the third terminal 113 has an exposed electrode 113a.
　絶縁基板１０２上には、電極パターン１０７が設けられている。電極パターン１０７は、抵抗体パターン１０５および集電体パターン１０６と露出電極１１１ａ，１１２ａ，１１３ａとの間に位置する。抵抗体パターン１０５および集電体パターン１０６と露出電極１１１ａ，１１２ａ，１１３ａとは、電極パターン１０７を介して、導通する。このように、抵抗体パターン１０５と露出電極１１１ａ，１１２ａ，１１３ａとが直接的に導通することが困難である場合、電極パターン１０７を介することで、抵抗体パターン１０５と露出電極１１１ａ，１１２ａ，１１３ａとが間接的に導通することが可能となり、高い信頼性を確保できる。 An electrode pattern 107 is provided on the insulating substrate 102. The electrode pattern 107 is located between the resistor pattern 105 and the current collector pattern 106 and the exposed electrodes 111a, 112a, 113a. The resistor pattern 105 and the current collector pattern 106 are electrically connected to the exposed electrodes 111a, 112a, and 113a through the electrode pattern 107. Thus, when it is difficult for the resistor pattern 105 and the exposed electrodes 111a, 112a, and 113a to be directly conducted, the resistor pattern 105 and the exposed electrodes 111a, 112a, and 113a are interposed via the electrode pattern 107. Can be indirectly conducted, and high reliability can be secured.
　絶縁基板１０２には、ケース１１０が着脱自在に取り付けられている。ケース１１０は、回転子１０３、摺動子１０４、抵抗体パターン１０５、集電体パターン１０６および電極パターン１０７を覆う。 A case 110 is detachably attached to the insulating substrate 102. Case 110 covers rotor 103, slider 104, resistor pattern 105, current collector pattern 106, and electrode pattern 107.
　図８は、回転型可変抵抗器１００のケース１１０、回転子１０３および摺動子１０４を取り除いた状態を示す平面図である。図７Ａと図７Ｂと図８に示すように、絶縁基板１０２は、平面視、矩形状である。絶縁基板１０２には、孔部１２１が設けられている。絶縁基板１０２の孔部１２１には、回転子１０３のボス部１３１が嵌め込まれている。回転子１０３は、回転軸Ｃを中心として回転する。絶縁基板１０２および回転子１０３は、例えば、樹脂から構成される。 FIG. 8 is a plan view showing a state in which the case 110, the rotor 103, and the slider 104 of the rotary variable resistor 100 are removed. As shown in FIGS. 7A, 7B, and 8, the insulating substrate 102 has a rectangular shape in plan view. A hole 121 is provided in the insulating substrate 102. A boss 131 of the rotor 103 is fitted in the hole 121 of the insulating substrate 102. The rotor 103 rotates about the rotation axis C. The insulating substrate 102 and the rotor 103 are made of resin, for example.
　抵抗体パターン１０５および集電体パターン１０６は、互いに離隔して配置される。抵抗体パターン１０５は、回転軸Ｃを中心とした環状を一部切り欠いた形状である。抵抗体パターン１０５は、第１端部１５１と第２端部１５２とを有する。集電体パターン１０６は、回転軸Ｃを中心とした環状である。集電体パターン１０６は、抵抗体パターン１０５の内側に位置している。抵抗体パターン１０５および集電体パターン１０６は、同一材料から構成され、例えば、フェノール系樹脂にカーボンブラックを含浸した材料から構成される。 The resistor pattern 105 and the current collector pattern 106 are spaced apart from each other. The resistor pattern 105 has a shape in which an annular shape around the rotation axis C is partially cut out. The resistor pattern 105 has a first end 151 and a second end 152. The current collector pattern 106 has an annular shape around the rotation axis C. The current collector pattern 106 is located inside the resistor pattern 105. The resistor pattern 105 and the current collector pattern 106 are made of the same material, for example, a material in which a phenolic resin is impregnated with carbon black.
　摺動子１０４は、回転子１０３のボス部１３１および２つの突部１３２に取り付けられて、位置決めされる。摺動子１０４は、略環状に形成される。摺動子１０４は、第１突部１４１と第２突部１４２とを有する。第１突部１４１と第２突部１４２とは、導通している。摺動子１０４は、抵抗体パターン１０５および集電体パターン１０６に摺接して、抵抗体パターン１０５と集電体パターン１０６とを導通する。つまり、第１突部１４１は、抵抗体パターン１０５に摺接し、第２突部１４２は、集電体パターン１０６に摺接して、抵抗体パターン１０５と集電体パターン１０６とは、導通される。摺動子１０４は、例えば、金属から構成される。 The slider 104 is attached to the boss 131 and the two protrusions 132 of the rotor 103 and positioned. The slider 104 is formed in a substantially annular shape. The slider 104 has a first protrusion 141 and a second protrusion 142. The first protrusion 141 and the second protrusion 142 are electrically connected. The slider 104 is in sliding contact with the resistor pattern 105 and the current collector pattern 106 to conduct the resistor pattern 105 and the current collector pattern 106. That is, the first protrusion 141 is in sliding contact with the resistor pattern 105, and the second protrusion 142 is in sliding contact with the current collector pattern 106, so that the resistor pattern 105 and the current collector pattern 106 are electrically connected. . The slider 104 is made of metal, for example.
　電極パターン１０７は、第１電極部１７１と第２電極部１７２と第３電極部１７３とを有する。第１電極部１７１は、抵抗体パターン１０５の第１端部１５１に重なって接触する。第２電極部１７２は、抵抗体パターン１０５の第２端部１５２に重なって接触する。第３電極部１７３は、環状に形成されている。第３電極部１７３は、集電体パターン１０６に重なって接触する。電極パターン１０７は、例えば、金属から構成される。 The electrode pattern 107 includes a first electrode part 171, a second electrode part 172, and a third electrode part 173. The first electrode portion 171 overlaps and contacts the first end portion 151 of the resistor pattern 105. The second electrode portion 172 overlaps and contacts the second end portion 152 of the resistor pattern 105. The third electrode portion 173 is formed in an annular shape. The third electrode part 173 overlaps and contacts the current collector pattern 106. The electrode pattern 107 is made of metal, for example.
　第１端子１１１および第２端子１１２の一部は、絶縁基板１０２の第１辺から引き出されている。第３端子１１３の一部は、絶縁基板１０２の第１辺と対向する第２辺から引き出されている。第１端子１１１の露出電極１１１ａは、第１電極部１７１に重なって接触する。第２端子１１２の露出電極１１２ａは、第２電極部１７２に重なって接触する。第３端子１１３の露出電極１１３ａは、第３電極部１７３に重なって接触する。第１と第２と第３端子１１１，１１２，１１３は、例えば、金属から構成される。 Part of the first terminal 111 and the second terminal 112 is drawn from the first side of the insulating substrate 102. A part of the third terminal 113 is drawn from the second side facing the first side of the insulating substrate 102. The exposed electrode 111a of the first terminal 111 overlaps and contacts the first electrode portion 171. The exposed electrode 112a of the second terminal 112 is in contact with the second electrode portion 172 in an overlapping manner. The exposed electrode 113a of the third terminal 113 overlaps and contacts the third electrode portion 173. The first, second, and third terminals 111, 112, and 113 are made of metal, for example.
　抵抗体パターン１０５の第１端部１５１と第１端子１１１の露出電極１１１ａとは、第１電極部１７１を介して、導通する。抵抗体パターン１０５の第２端部１５２と第２端子１１２の露出電極１１２ａとは、第２電極部１７２を介して、導通する。集電体パターン１０６と第３端子１１３の露出電極１１３ａとは、第３電極部１７３を介して、導通する。 The first end portion 151 of the resistor pattern 105 and the exposed electrode 111a of the first terminal 111 are electrically connected via the first electrode portion 171. The second end portion 152 of the resistor pattern 105 and the exposed electrode 112a of the second terminal 112 are electrically connected via the second electrode portion 172. The current collector pattern 106 and the exposed electrode 113 a of the third terminal 113 are electrically connected via the third electrode portion 173.
　図９は、回転型可変抵抗器１００の動作を説明する説明図である。図９では、摺動子１０４を単純な形状で示す。図９に示すように、第１端子１１１と第２端子１１２との間には、一定の電圧Ｖｃｃが印加されている。摺動子１０４の回転により、第１端子１１１と第３端子１１３との間の電圧Ｖ１３が変化する。つまり、摺動子１０４の回転角度に応じて電圧Ｖ１３が変化する。そして、この電圧Ｖ１３を測定することにより、摺動子１０４（回転子１０３）の回転角度を容易に検出することができる。 FIG. 9 is an explanatory diagram for explaining the operation of the rotary variable resistor 100. In FIG. 9, the slider 104 is shown in a simple shape. As shown in FIG. 9, a constant voltage Vcc is applied between the first terminal 111 and the second terminal 112. Rotation of the slider 104, the voltage V 13 between the first terminal 111 and the third terminal 113 is changed. That is, the voltage V 13 changes according to the rotation angle of the slider 104. Then, by measuring this voltage V 13, it is possible to easily detect the rotation angle of the slider 104 (the rotor 103).
　図９において、回転軸Ｃを中心として、抵抗体パターン１０５における第１端部１５１と第２端部１５２との間の中心位置を、中央角度０°とする。中央角度０°を基準として、第２端部１５２側の回転角度を正の値とし、第１端部１５１側の回転角度を負の値とする。図９では、正の値を（＋）として示し、負の値を（－）として示す。 9, the center position between the first end 151 and the second end 152 in the resistor pattern 105 with the rotation axis C as the center is set to a central angle of 0 °. The rotation angle on the second end 152 side is a positive value and the rotation angle on the first end 151 side is a negative value with the central angle 0 ° as a reference. In FIG. 9, positive values are indicated as (+) and negative values are indicated as (−).
　図１０は、出力電圧比と回転角度との関係を示すグラフである。縦軸に、出力電圧比［％］を示し、横軸に、摺動子１０４（回転子１０３）の回転角度［°］を示す。出力電圧比は、（Ｖ１３／Ｖｃｃ×１００）である。図１０に示すように、理想値を（仮想線に示す）理想直線Ｒとし、実測値を（実線に示す）実測曲線Ｗとする。理想直線Ｒの傾きは、例えば、１００［％］／３３３．３［°］である。理想直線Ｒと実測曲線Ｗとは、回転角度０°と出力電圧比５０％との交点で重なる。 FIG. 10 is a graph showing the relationship between the output voltage ratio and the rotation angle. The vertical axis represents the output voltage ratio [%], and the horizontal axis represents the rotation angle [°] of the slider 104 (rotor 103). The output voltage ratio is (V 13 / V cc × 100). As shown in FIG. 10, the ideal value is an ideal straight line R (shown by an imaginary line), and the actual measurement value is an actual measurement curve W (shown by a solid line). The inclination of the ideal straight line R is, for example, 100 [%] / 333.3 [°]. The ideal straight line R and the actual measurement curve W overlap at the intersection of the rotation angle 0 ° and the output voltage ratio 50%.
　実測曲線Ｗの理想直線Ｒからの最大垂直偏差Ｈを、電気的直線度（リニアリティ）Ｌ［％］という。電気的直線度Ｌの値が小さいほど、直線性が良好となる。具体的には、Ｌ＝ずれ量／Ｖｃｃ×１００である。ずれ量とは、最大垂直偏差Ｈに対応する電圧差をいう。図１０において、電気的直線度Ｌが保証される回転角度の範囲は、－１６０°以上であり、かつ、＋１６０°以下である。 The maximum vertical deviation H from the ideal straight line R of the actual measurement curve W is referred to as electrical linearity (linearity) L [%]. The smaller the value of the electrical linearity L, the better the linearity. Specifically, L = shift amount / V cc × 100. The deviation amount is a voltage difference corresponding to the maximum vertical deviation H. In FIG. 10, the range of the rotation angle in which the electrical linearity L is guaranteed is −160 ° or more and + 160 ° or less.
　図８に示すように、抵抗体パターン１０５の可変抵抗として有効な最大寸法をＺ［ｍｍ］とする。最大寸法Ｚは、抵抗体パターン１０５の外形の最大寸法をいう。抵抗体パターン１０５の可変抵抗として有効な部分とは、抵抗体パターン１０５のうちの抵抗体として機能する部分であり、抵抗体パターン１０５のうちの電極パターン１７１，１７２と重ならない部分をいう。抵抗体パターン１０５の最大寸法Ｚとは、例えば、抵抗体パターン１０５の外形が円形であるときの直径をいい、抵抗体パターン１０５の外形が長方形であるときの長辺をいう。 As shown in FIG. 8, the maximum dimension effective as the variable resistance of the resistor pattern 105 is Z [mm]. The maximum dimension Z is the maximum dimension of the outer shape of the resistor pattern 105. The portion effective as the variable resistor of the resistor pattern 105 is a portion that functions as a resistor in the resistor pattern 105 and is a portion that does not overlap with the electrode patterns 171 and 172 in the resistor pattern 105. The maximum dimension Z of the resistor pattern 105 is, for example, the diameter when the outer shape of the resistor pattern 105 is circular, and the long side when the outer shape of the resistor pattern 105 is rectangular.
　ここで、最大寸法Ｚ［ｍｍ］と電気的直線度Ｌ［％］との関係において、Ｚ≦４．０、かつ、Ｚ×Ｌ＜１０を満たす。したがって、Ｚ≦４．０を満たすので、回転型可変抵抗器１００を小型にできる。Ｚ×Ｌ＜１０を満たすので、電気的直線度を向上できる。したがって、小型化と高精度化の両立を実現することができる。これに対して、Ｚ＞４．０を満たすと、回転型可変抵抗器１００が大型になり、Ｚ×Ｌ≧１０を満たすと、電気的直線度が悪化する。 Here, in the relationship between the maximum dimension Z [mm] and the electrical linearity L [%], Z ≦ 4.0 and Z × L <10 are satisfied. Therefore, since Z ≦ 4.0 is satisfied, the rotary variable resistor 100 can be reduced in size. Since Z × L <10 is satisfied, the electrical linearity can be improved. Therefore, both miniaturization and high accuracy can be realized. On the other hand, when Z> 4.0 is satisfied, the rotary variable resistor 100 becomes large, and when Z × L ≧ 10 is satisfied, the electrical linearity deteriorates.
　図８に示すように、抵抗体パターン１０５および集電体パターン１０６は、絶縁基板１０２上に第１方向Ｘにスクリーン印刷することで、構成される。第１方向Ｘとは、印刷方向をいい、スクリーン膜上でペーストをスキージで搬送する方向をいう。 As shown in FIG. 8, the resistor pattern 105 and the current collector pattern 106 are configured by screen printing in the first direction X on the insulating substrate 102. The first direction X refers to the printing direction and refers to the direction in which the paste is conveyed with a squeegee on the screen film.
　通常、抵抗体パターン１０５において、第１方向Ｘに直交する方向の長さが最大となる部分の膜厚は、ばらつきやすい。このため、本願発明者は、この部分に着目し、この部分の膜厚のばらつきが所定範囲にあれば、抵抗体パターン１０５の全体の膜厚のばらつきは、小さくなることを、見出した。 Usually, in the resistor pattern 105, the film thickness of the portion where the length in the direction orthogonal to the first direction X is maximum is likely to vary. For this reason, the inventor of the present application pays attention to this portion, and finds that if the variation in the film thickness of this portion is within a predetermined range, the variation in the entire film thickness of the resistor pattern 105 is reduced.
　具体的に述べると、回転軸Ｃに沿った方向からみて、第１方向Ｘに平行でかつ回転軸Ｃを通過する直線を第１直線Ｍ１とする。第１直線Ｍ１上で抵抗体パターン１０５の第１方向Ｘに直交する方向の長さが最大となる部分側の幅（抵抗体パターン１０５の頂部１５５の幅）の中央に位置する点を中点Ｍ０とする。抵抗体パターン１０５の第１方向Ｘに直交する方向の最大長さとは、第１直線Ｍ１と抵抗体パターン１０５の内周との交点で第１直線Ｍ１と直交する位置での長さＤである。中点Ｍ０を通過すると共に第１直線Ｍ１に直交する直線を第２直線Ｍ２とする。第２直線Ｍ２での抵抗体パターン１０５の断面において、図１１に示すように、第２直線Ｍ２に沿った方向の中央部の膜厚をｔ１とし、最大膜厚をｔ２としたとき、１．０≦（ｔ２／ｔ１）＜１．２を満たす。抵抗体パターン１０５の上面は、凹面であるため、最大膜厚ｔ２は、第２直線Ｍ２に沿った方向の端部の膜厚となる。 Specifically, a straight line parallel to the first direction X and passing through the rotation axis C when viewed from the direction along the rotation axis C is defined as a first straight line M1. The midpoint is the point located on the center of the width of the portion side where the length in the direction orthogonal to the first direction X of the resistor pattern 105 is maximum on the first straight line M1 (width of the top portion 155 of the resistor pattern 105). Let M0. The maximum length of the resistor pattern 105 in the direction orthogonal to the first direction X is the length D at a position orthogonal to the first line M1 at the intersection of the first line M1 and the inner periphery of the resistor pattern 105. . A straight line passing through the middle point M0 and orthogonal to the first straight line M1 is defined as a second straight line M2. In the cross section of the resistor pattern 105 along the second straight line M2, as shown in FIG. 11, when the central film thickness in the direction along the second straight line M2 is t1, and the maximum film thickness is t2, 0 ≦ (t2 / t1) <1.2 is satisfied. Since the upper surface of the resistor pattern 105 is a concave surface, the maximum film thickness t2 is the film thickness at the end in the direction along the second straight line M2.
　したがって、１．０≦（ｔ２／ｔ１）＜１．２を満たすので、抵抗体パターン１０５の膜厚のばらつきは小さくなって、電気的直線度を向上できる。したがって、小型の回転型可変抵抗器１００においても、高精度化を実現することができる。これに対して、１．２≦（ｔ２／ｔ１）を満たすと、電気的直線度が悪化する。 Therefore, since 1.0 ≦ (t2 / t1) <1.2 is satisfied, the variation in the film thickness of the resistor pattern 105 is reduced, and the electrical linearity can be improved. Therefore, high precision can be achieved even in the small rotary variable resistor 100. On the other hand, when 1.2 ≦ (t2 / t1) is satisfied, the electrical linearity deteriorates.
　次に、回転型可変抵抗器１００の第２部分２２への実装について説明する。抵抗体パターン１０５の中央角度０°（図９参照）が、第１部分２１と第２部分２２との可動領域の中央角度に一致するように、回転型可変抵抗器１００を第２部分２２に設置することが好ましい。こうすることで、第１部分２１および第２部分２２の可動領域と抵抗体パターン１０５の領域とを対応させることができ、抵抗体パターン１０５の領域を有効に利用することができる。 Next, the mounting of the rotary variable resistor 100 on the second portion 22 will be described. The rotary variable resistor 100 is connected to the second portion 22 so that the central angle 0 ° (see FIG. 9) of the resistor pattern 105 matches the central angle of the movable region of the first portion 21 and the second portion 22. It is preferable to install. By doing so, the movable region of the first portion 21 and the second portion 22 can be made to correspond to the region of the resistor pattern 105, and the region of the resistor pattern 105 can be used effectively.
　なお、電極パターン１０７の第１、第２電極部１７１，１７２の大きさを変え、抵抗体パターン１０５の第１、第２電極部１７１，１７２に重なる面積を変更したとき、抵抗体パターン１０５の可変抵抗として有効な領域は、変化する。このとき、抵抗体パターン１０５の可変抵抗として有効な領域の中央の角度が、第１部分２１と第２部分２２との可動領域の中央の角度に一致するように、回転型可変抵抗器１００を第２部分２２に設置する。こうすることで、抵抗体パターン１０５の可変抵抗領域を有効に利用することができる。また、回転型可変抵抗器１００を第２部分２２に設置する向きにかかわらず、抵抗体パターン１０５の可変抵抗領域を変えることで、抵抗体パターン１０５の可変抵抗領域を第１部分２１および第２部分２２の可動領域に対応させることができる。 When the size of the first and second electrode portions 171 and 172 of the electrode pattern 107 is changed and the area overlapping the first and second electrode portions 171 and 172 of the resistor pattern 105 is changed, the resistance pattern 105 A region effective as a variable resistor changes. At this time, the rotary variable resistor 100 is set so that the central angle of the effective region of the resistor pattern 105 as the variable resistor coincides with the central angle of the movable region of the first portion 21 and the second portion 22. Installed in the second portion 22. By doing so, the variable resistance region of the resistor pattern 105 can be used effectively. Regardless of the direction in which the rotary variable resistor 100 is installed in the second portion 22, the variable resistance region of the resistor pattern 105 is changed to change the variable resistance region of the resistor pattern 105 to the first portion 21 and the second portion 21. This can correspond to the movable region of the portion 22.
　前記回転駆動機構３によれば、回転子１０３の回転角度が、第１部分２１と第２部分２２との間の中心角度に対応するように、回転子１０３は、連結軸部３０に回転不能に取り付けられ、回転子１０３の軸心１０３ａは、連結軸部３０の軸心３０ａに同軸に配置される。このため、回転子１０３の回転角度は、第１部分２１の第２部分２２に対する相対的な回転角度に一致する。したがって、回転型可変抵抗器１００の出力電圧に基づいて駆動部４０を制御することで、第１部分２１の第２部分２２に対する相対的な回転角度を制御することができる。また、回転子１０３は、連結軸部３０に直接に取り付けられているので、デッドスペースを利用して、回転型可変抵抗器１００を狭小な空間に設置することができる。したがって、第１部分２１と第２部分２２の相対的な回転を細かに制御することができる。 According to the rotational drive mechanism 3, the rotor 103 cannot rotate with respect to the connecting shaft portion 30 so that the rotation angle of the rotor 103 corresponds to the center angle between the first portion 21 and the second portion 22. The shaft center 103 a of the rotor 103 is disposed coaxially with the shaft center 30 a of the connecting shaft portion 30. For this reason, the rotation angle of the rotor 103 matches the relative rotation angle of the first portion 21 with respect to the second portion 22. Therefore, the relative rotation angle of the first portion 21 with respect to the second portion 22 can be controlled by controlling the drive unit 40 based on the output voltage of the rotary variable resistor 100. Moreover, since the rotor 103 is directly attached to the connecting shaft part 30, the rotary variable resistor 100 can be installed in a narrow space by using a dead space. Therefore, the relative rotation of the first portion 21 and the second portion 22 can be finely controlled.
　また、制御装置５０は、回転型可変抵抗器１００の出力電圧を検出して、回転子１０３の回転角度が予め定めた角度となるように、駆動部４０を制御する。したがって、第１部分２１と第２部分２２との回転角度を任意の角度に制御することができる。 Further, the control device 50 detects the output voltage of the rotary variable resistor 100 and controls the drive unit 40 so that the rotation angle of the rotor 103 becomes a predetermined angle. Therefore, the rotation angle between the first portion 21 and the second portion 22 can be controlled to an arbitrary angle.
　また、抵抗体パターン１０５の可変抵抗として有効な最大寸法は、４ｍｍと同等であるか、もしくは、４ｍｍよりも小さい。したがって、回転型可変抵抗器１００は小型となり、回転型可変抵抗器１００の設置スペースを小さくできる。 Further, the maximum dimension effective as the variable resistance of the resistor pattern 105 is equal to 4 mm or smaller than 4 mm. Therefore, the rotary variable resistor 100 becomes small, and the installation space for the rotary variable resistor 100 can be reduced.
　（第２実施形態）
　図１２は、本発明の第２実施形態の回転駆動機構を示す斜視図である。第２実施形態は、第１実施形態とは、回転型可変抵抗器の実装構造が相違する。この相違する構成を以下に説明する。なお、第２実施形態において、第１実施形態と同一の符号は、第１実施形態と同じ構成であるため、その説明を省略する。 (Second Embodiment)
FIG. 12 is a perspective view showing the rotation drive mechanism of the second embodiment of the present invention. The second embodiment is different from the first embodiment in the mounting structure of the rotary variable resistor. This different configuration will be described below. Note that in the second embodiment, the same reference numerals as those in the first embodiment have the same configurations as those in the first embodiment, and a description thereof will be omitted.
　図１２に示すように、回転型可変抵抗器１００は、プリント配線基板７０に搭載される。リード線６０は、プリント配線基板７０に接続される。 As shown in FIG. 12, the rotary variable resistor 100 is mounted on a printed wiring board 70. The lead wire 60 is connected to the printed wiring board 70.
　具体的に述べると、プリント配線基板７０は、回転型可変抵抗器１００の第１端子１１１に導通される第１配線７１と、回転型可変抵抗器１００の第２端子１１２に導通される第２配線７２とを有する。プリント配線基板７０には、第１配線７１および第２配線７２のそれぞれに対応する位置に、スルーホール７２が設けられている。リード線６０は、各スルーホール７２に溶接されて、第１配線７１および第２配線７２のそれぞれに接続される。なお、図中、回転型可変抵抗器１００の第３端子１１３（図７Ｂ）に導通される配線を省略している。 More specifically, the printed wiring board 70 is electrically connected to the first wire 71 connected to the first terminal 111 of the rotary variable resistor 100 and the second wire 112 connected to the second terminal 112 of the rotary variable resistor 100. Wiring 72. The printed wiring board 70 is provided with a through hole 72 at a position corresponding to each of the first wiring 71 and the second wiring 72. The lead wire 60 is welded to each through hole 72 and connected to each of the first wiring 71 and the second wiring 72. In the drawing, the wiring that is conducted to the third terminal 113 (FIG. 7B) of the rotary variable resistor 100 is omitted.
　第２実施形態によれば、リード線６０をプリント配線基板７０に取り付けているので、リード線６０を回転型可変抵抗器１００の端子１１１，１１２，１１３に直接に取り付ける場合に比べて、リード線６０の取り付けが強固になる。 According to the second embodiment, since the lead wire 60 is attached to the printed wiring board 70, the lead wire 60 is compared with the case where the lead wire 60 is directly attached to the terminals 111, 112, 113 of the rotary variable resistor 100. The attachment of 60 becomes firm.
　（第３実施形態）
　図１３Ａは、本発明の第３実施形態の回転駆動機構を示す平面図である。図１３Ｂは、本発明の第３実施形態の回転駆動機構を示す斜視図である。第３実施形態は、第１実施形態とは、回転型可変抵抗器の実装構造が相違する。この相違する構成を以下に説明する。なお、第３実施形態において、第１実施形態と同一の符号は、第１実施形態と同じ構成であるため、その説明を省略する。 (Third embodiment)
FIG. 13A is a plan view showing a rotational drive mechanism of a third embodiment of the present invention. FIG. 13B is a perspective view showing the rotation drive mechanism of the third embodiment of the present invention. The third embodiment is different from the first embodiment in the mounting structure of the rotary variable resistor. This different configuration will be described below. Note that in the third embodiment, the same reference numerals as those in the first embodiment have the same configurations as those in the first embodiment, and a description thereof will be omitted.
　図１３Ａと図１３Ｂに示すように、回転型可変抵抗器１００は、プリント配線基板７０Ａに搭載される。プリント配線基板７０Ａに、リード部８０が接続される。 As shown in FIGS. 13A and 13B, the rotary variable resistor 100 is mounted on a printed wiring board 70A. The lead portion 80 is connected to the printed wiring board 70A.
　具体的に述べると、プリント配線基板７０Ａは、回転型可変抵抗器１００の端子１１１，１１２，１１３に導通される第１コネクタ７６を有する。回転型可変抵抗器１００は、プリント配線基板７０Ａの表面に配置され、第１コネクタ７６は、プリント配線基板７０Ａの裏面に配置される。 Specifically, the printed wiring board 70 </ b> A has a first connector 76 that is electrically connected to the terminals 111, 112, and 113 of the rotary variable resistor 100. The rotary variable resistor 100 is disposed on the front surface of the printed wiring board 70A, and the first connector 76 is disposed on the back surface of the printed wiring board 70A.
　プリント配線基板７０Ａは、第１端子１１１に導通される第１配線７１と、第２端子１１２に導通される第２配線７２と、第３端子１１３に導通される第３配線７３とを有する。第１、第２、第３配線７１，７２，７３は、それぞれ、スルーホール７２を介して、プリント配線基板７０Ａの表面と裏面とに設けられている。 The printed wiring board 70 </ b> A includes a first wiring 71 that is conductive to the first terminal 111, a second wiring 72 that is conductive to the second terminal 112, and a third wiring 73 that is conductive to the third terminal 113. The first, second, and third wirings 71, 72, and 73 are provided on the front surface and the back surface of the printed wiring board 70A through the through holes 72, respectively.
　第１コネクタ７６は、第１端子７６１と第２端子７６２と第３端子７６３とを有する。第１端子７６１は、第１配線７１に導通され、第２端子７６２は、第２配線７２に導通され、第３端子７６３は、第３配線７３に導通される。つまり、第１端子７６１は、回転型可変抵抗器１００の第１端子１１１と導通し、第２端子７６２は、回転型可変抵抗器１００の第２端子１１２と導通し、第３端子７６３は、回転型可変抵抗器１００の第３端子１１３と導通する。 The first connector 76 includes a first terminal 761, a second terminal 762, and a third terminal 763. The first terminal 761 is electrically connected to the first wire 71, the second terminal 762 is electrically connected to the second wire 72, and the third terminal 763 is electrically connected to the third wire 73. That is, the first terminal 761 is electrically connected to the first terminal 111 of the rotary variable resistor 100, the second terminal 762 is electrically connected to the second terminal 112 of the rotary variable resistor 100, and the third terminal 763 is It is electrically connected to the third terminal 113 of the rotary variable resistor 100.
　リード部８０は、第２コネクタ８１と第２コネクタ８１に導通されるリード線６０とを有する。第２コネクタ８１は、図示しない３つの端子を有し、各端子は、リード線６０に導通される。 The lead portion 80 includes a second connector 81 and a lead wire 60 that is electrically connected to the second connector 81. The second connector 81 has three terminals (not shown), and each terminal is electrically connected to the lead wire 60.
　第１コネクタ７６と第２コネクタ８１とは、着脱自在に接続される。第１コネクタ７６は、雌型であり、第２コネクタ８１は、雄型である。なお、第１コネクタ７６は、雄型であり、第２コネクタ８１は、雌型であってもよい。第１コネクタ７６と第２コネクタ８１とが接続されると、第１コネクタ７６の第１、第２、第３端子７６１，７６２，７６３のそれぞれは、第２コネクタ８１の３つの端子のそれぞれに導通される。 The first connector 76 and the second connector 81 are detachably connected. The first connector 76 is a female type, and the second connector 81 is a male type. The first connector 76 may be a male type, and the second connector 81 may be a female type. When the first connector 76 and the second connector 81 are connected, the first, second, and third terminals 761, 762, and 763 of the first connector 76 are connected to the three terminals of the second connector 81, respectively. Conducted.
　第３実施形態によれば、リード線６０を第１、第２コネクタ７６，８１を介してプリント配線基板７０Ａに取り付けているので、リード線６０を回転型可変抵抗器１００の端子１１１，１１２，１１３に直接に取り付ける場合に比べて、リード線６０の取り付けが強固になる。 According to the third embodiment, since the lead wire 60 is attached to the printed wiring board 70A via the first and second connectors 76 and 81, the lead wire 60 is connected to the terminals 111, 112, and 112 of the rotary variable resistor 100. Compared with the case of attaching directly to 113, the attachment of the lead wire 60 becomes stronger.
　（第４実施形態）
　図１４は、本発明の第４実施形態の回転駆動機構を示す斜視図である。第４実施形態は、第１実施形態とは、回転型可変抵抗器の実装構造が相違する。この相違する構成を以下に説明する。なお、第４実施形態において、第１実施形態と同一の符号は、第１実施形態と同じ構成であるため、その説明を省略する。 (Fourth embodiment)
FIG. 14 is a perspective view showing the rotational drive mechanism of the fourth embodiment of the present invention. The fourth embodiment is different from the first embodiment in the mounting structure of the rotary variable resistor. This different configuration will be described below. In addition, in 4th Embodiment, since the code | symbol same as 1st Embodiment is the same structure as 1st Embodiment, the description is abbreviate | omitted.
　図１４に示すように、回転型可変抵抗器１００は、第１フレキシブルプリント配線基板９１に搭載される。第１フレキシブルプリント配線基板９１に、第２フレキシブルプリント配線基板９２が接続される。 As shown in FIG. 14, the rotary variable resistor 100 is mounted on the first flexible printed wiring board 91. A second flexible printed wiring board 92 is connected to the first flexible printed wiring board 91.
　具体的に述べると、第１フレキシブルプリント配線基板９１は、回転型可変抵抗器１００の端子１１１，１１２，１１３に導通される第１コネクタ９１０を有する。第１コネクタ９１０は、第１フレキシブルプリント配線基板９１の一辺に設けられる。 Specifically, the first flexible printed wiring board 91 has a first connector 910 that is electrically connected to the terminals 111, 112, and 113 of the rotary variable resistor 100. The first connector 910 is provided on one side of the first flexible printed wiring board 91.
　第１フレキシブルプリント配線基板９１は、第１端子１１１に導通される第１配線９１１と、第２端子１１２に導通される第２配線９１２と、第３端子１１３に導通される第３配線９１３とを有する。第１コネクタ９１０は、第１配線９１１の端部と第２配線９１２の端部と第３配線９１３の端部とに相当する。第２フレキシブルプリント配線基板９２は、第２コネクタ９２０を有する。第２コネクタ９２０は、図示しない３つの配線を有する。 The first flexible printed wiring board 91 includes a first wiring 911 that is conductive to the first terminal 111, a second wiring 912 that is conductive to the second terminal 112, and a third wiring 913 that is conductive to the third terminal 113. Have The first connector 910 corresponds to an end portion of the first wiring 911, an end portion of the second wiring 912, and an end portion of the third wiring 913. The second flexible printed wiring board 92 has a second connector 920. The second connector 920 has three wirings (not shown).
　第１コネクタ９１０と第２コネクタ９２０とは、着脱自在に接続される。第１コネクタ９１０は、雄型であり、第２コネクタ９２０は、雌型である。なお、第１コネクタ９１０は、雌型であり、第２コネクタ９２０は、雄型であってもよい。第１コネクタ９１０と第２コネクタ９２０とが接続されると、第１コネクタ９１０の第１、第２、第３配線９１１，９１２，９１３のそれぞれは、第２コネクタ９２０の３つの配線のそれぞれに導通される。 The first connector 910 and the second connector 920 are detachably connected. The first connector 910 is male and the second connector 920 is female. The first connector 910 may be a female type, and the second connector 920 may be a male type. When the first connector 910 and the second connector 920 are connected, the first, second, and third wirings 911, 912, and 913 of the first connector 910 are connected to the three wirings of the second connector 920, respectively. Conducted.
　第４実施形態によれば、第２フレキシブルプリント配線基板９２を第１フレキシブルプリント配線基板９１に取り付けているので、リード線を回転型可変抵抗器１００の端子１１１，１１２，１１３に直接に取り付ける場合に比べて、第２フレキシブルプリント配線基板９２の取り付けが強固になる。 According to the fourth embodiment, since the second flexible printed wiring board 92 is attached to the first flexible printed wiring board 91, the lead wires are attached directly to the terminals 111, 112, 113 of the rotary variable resistor 100. Compared to the above, the attachment of the second flexible printed wiring board 92 is strengthened.
　なお、本発明は上述の実施形態に限定されず、本発明の要旨を逸脱しない範囲で設計変更可能である。例えば、第１から第４実施形態のそれぞれの特徴点を様々に組み合わせてもよい。 It should be noted that the present invention is not limited to the above-described embodiment, and the design can be changed without departing from the gist of the present invention. For example, the feature points of the first to fourth embodiments may be variously combined.
　前記実施形態では、第１部位を第１部分とし、第２部位を第２部分としているが、第１部位を第２部分とし、第２部位を第１部分としてもよく、または、第１部位を第２部分または第３部分の一方とし、第２部位を第２部分または第３部分の他方としてもよい。 In the embodiment, the first part is the first part and the second part is the second part. However, the first part may be the second part and the second part may be the first part, or the first part. May be one of the second part or the third part, and the second part may be the other of the second part or the third part.
　前記実施形態では、駆動部をモータとしているが、駆動部をワイヤーや伸縮ロッドなどとしてもよく、この場合、連結軸部を直接に動かさず、第１部位や第２部位を直接に動かすようにしてもよい。 In the above embodiment, the drive unit is a motor. However, the drive unit may be a wire or a telescopic rod. In this case, the first part or the second part is moved directly without moving the connecting shaft part directly. May be.
　前記実施形態では、駆動部により第１部位を駆動させているが、第１部位と第２部位との少なくとも一方を駆動させるようにしてもよい。 In the above embodiment, the first part is driven by the drive unit, but at least one of the first part and the second part may be driven.
　前記実施形態では、回転型可変抵抗器において、抵抗体パターンの外形が、円形である場合を示しているが、抵抗体パターンの外形が、楕円や四角形やその他の多角形であってもよい。 In the above embodiment, the rotary variable resistor has a case where the outer shape of the resistor pattern is a circle, but the outer shape of the resistor pattern may be an ellipse, a rectangle, or another polygon.
　前記実施形態では、回転型可変抵抗器において、Ｚ≦４．０、かつ、Ｚ×Ｌ＜１０を満たし、かつ、１．０≦（ｔ２／ｔ１）＜１．２を満たしているが、何れか一方を満たすようにしてもよい。 In the embodiment, in the rotary variable resistor, Z ≦ 4.0, Z × L <10, and 1.0 ≦ (t2 / t1) <1.2 are satisfied. Either of them may be satisfied.
　前記実施形態では、本発明の回転駆動機構を、ロボットの指の関節部分に用いているが、ロボットの首や腕や足などの関節部分に用いてもよい。また、本発明の回転駆動機構を、監視カメラの首振り部分や、エアコンのフラップの揺動部分などのあらゆる回転可能な部分に用いてもよい。 In the above embodiment, the rotational drive mechanism of the present invention is used for a joint part of a robot finger, but it may be used for a joint part such as a neck, arm, or leg of the robot. Moreover, you may use the rotational drive mechanism of this invention for all the rotatable parts, such as the swinging part of the surveillance camera, and the swinging part of the flap of an air-conditioner.
　１　ロボット
　２　指
　２１　第１部分（第１部位）
　２２　第２部分（第２部位）
　２３　第３部分
　３　回転駆動機構
　３０　連結軸部
　３０ａ　軸心
　４０　駆動部
　５０　制御装置
　６０　リード線
　７０，７０Ａ　プリント配線基板
　７１　第１配線
　７２　第２配線
　７３　第３配線
　７６　第１コネクタ
　７６１　第１端子
　７６２　第２端子
　７６３　第３端子
　８０　リード部
　８１　第２コネクタ
　９１　第１フレキシブルプリント配線基板
　９１０　第１コネクタ
　９２　第２フレキシブルプリント配線基板
　９２０　第２コネクタ
　１００　回転型可変抵抗器
　１０３　回転子
　１０３ａ　軸心
　１０５　抵抗体パターン
　１１０　ケース
　１１１　第１端子
　１１２　第２端子
　１１３　第３端子 1 Robot 2 Finger 21 First Part (First Part)
22 2nd part (2nd part)
23 3rd part 3 Rotation drive mechanism 30 Connection shaft part 30a Axis center 40 Drive part 50 Control device 60 Lead wire 70, 70A Printed wiring board 71 1st wiring 72 2nd wiring 73 3rd wiring 76 1st connector 761 1st terminal 762 2nd terminal 763 3rd terminal 80 Lead part 81 2nd connector 91 1st flexible printed wiring board 910 1st connector 92 2nd flexible printed wiring board 920 2nd connector 100 Rotary variable resistor 103 Rotor 103a Axle 105 Resistor pattern 110 Case 111 First terminal 112 Second terminal 113 Third terminal

Claims (7)

  1. 　第１部位と、
    　第２部位と、
    　前記第１部位と前記第２部位とを回転可能に連結すると共に、前記第１部位に回転不能に取り付けられる連結軸部と、
    　前記第１部位と前記第２部位との間の前記連結軸部の軸心を中心とする中心角度を変化させるように、前記第１部位と前記第２部位との少なくとも一方を前記連結軸部の軸心を中心として駆動させる駆動部と、
    　前記連結軸部に取り付けられる回転型可変抵抗器と
    を備え、
    　前記回転型可変抵抗器は、回転可能に構成されると共に回転角度に応じて出力電圧を変化させるための回転子を有し、
    　前記回転子の回転角度が、前記第１部位と前記第２部位との間の中心角度に対応するように、前記回転子は、前記連結軸部に回転不能に取り付けられると共に、前記回転子の軸心は、前記連結軸部の軸心と同軸に配置される、回転駆動機構。     A first site;
    A second site;
    A connecting shaft portion rotatably connected to the first portion and the second portion, and non-rotatably attached to the first portion;
    At least one of the first part and the second part is connected to the connecting shaft part so as to change a central angle about the axial center of the connecting shaft part between the first part and the second part. A drive unit for driving around the axis of
    A rotary variable resistor attached to the connecting shaft portion;
    The rotary variable resistor is configured to be rotatable and has a rotor for changing an output voltage according to a rotation angle;
    The rotor is non-rotatably attached to the connecting shaft portion so that a rotation angle of the rotor corresponds to a central angle between the first part and the second part, and A rotation drive mechanism in which an axis is arranged coaxially with an axis of the connecting shaft part.
  2. 　前記回転型可変抵抗器の出力電圧に基づいて前記駆動部を制御する制御装置を有する、請求項１に記載の回転駆動機構。 The rotary drive mechanism according to claim 1, further comprising a control device that controls the drive unit based on an output voltage of the rotary variable resistor.
  3. 　前記制御装置は、前記回転型可変抵抗器の出力電圧を検出して、前記回転子の回転角度が予め定めた角度となるように、前記駆動部を制御する、請求項２に記載の回転駆動機構。 The rotational drive according to claim 2, wherein the control device detects an output voltage of the rotary variable resistor and controls the drive unit so that a rotational angle of the rotor becomes a predetermined angle. mechanism.
  4. 　前記回転型可変抵抗器を搭載するプリント配線基板と、
    　前記プリント配線基板に接続されるリード線と
    を有し、
    　前記プリント配線基板は、前記回転型可変抵抗器の端子に導通される配線を有し、
    　前記リード線は、前記配線に接続される、請求項１から３の何れか一つに記載の回転駆動機構。     A printed wiring board on which the rotary variable resistor is mounted;
    A lead wire connected to the printed wiring board;
    The printed wiring board has wiring that is conducted to a terminal of the rotary variable resistor,
    The rotation drive mechanism according to claim 1, wherein the lead wire is connected to the wiring.
  5. 　前記回転型可変抵抗器を搭載するプリント配線基板と、
    　前記プリント配線基板に接続されるリード部と
    を有し、
    　前記プリント配線基板は、前記回転型可変抵抗器の端子に導通される第１コネクタを有し、
    　前記リード部は、第２コネクタと前記第２コネクタに導通されるリード線とを有し、
    　前記第１コネクタと前記第２コネクタとは、接続される、請求項１から３の何れか一つに記載の回転駆動機構。     A printed wiring board on which the rotary variable resistor is mounted;
    A lead portion connected to the printed wiring board;
    The printed wiring board has a first connector that is electrically connected to a terminal of the rotary variable resistor;
    The lead portion has a second connector and a lead wire conducted to the second connector,
    The rotation drive mechanism according to any one of claims 1 to 3, wherein the first connector and the second connector are connected.
  6. 　前記回転型可変抵抗器を搭載する第１フレキシブルプリント配線基板と、
    　前記第１フレキシブルプリント配線基板に接続される第２フレキシブルプリント配線基板と
    を有し、
    　前記第１フレキシブルプリント配線基板は、前記回転型可変抵抗器の端子に導通される第１コネクタを有し、
    　前記第２フレキシブルプリント配線基板は、第２コネクタを有し、
    　前記第１コネクタと前記第２コネクタとは、接続される、請求項１から３の何れか一つに記載の回転駆動機構。     A first flexible printed wiring board on which the rotary variable resistor is mounted;
    A second flexible printed wiring board connected to the first flexible printed wiring board;
    The first flexible printed wiring board has a first connector connected to a terminal of the rotary variable resistor,
    The second flexible printed wiring board has a second connector,
    The rotation drive mechanism according to any one of claims 1 to 3, wherein the first connector and the second connector are connected.
  7. 　前記回転型可変抵抗器は、
    　絶縁基板と、
    　前記絶縁基板上に設けられ、互いに離隔して配置される抵抗体パターンおよび集電体パターンと、
    　前記絶縁基板に回転可能に取り付けられる前記回転子と、
    　前記回転子と共に回転可能となるように前記回転子に取り付けられ、前記抵抗体パターンおよび前記集電体パターンに摺接して前記抵抗体パターンと前記集電体パターンとを導通する摺動子と
    を有し、
    　前記抵抗体パターンの可変抵抗として有効な最大寸法は、４ｍｍと同等であるか、もしくは、４ｍｍよりも小さい、請求項１から６の何れか一つに記載の回転駆動機構。     The rotary variable resistor is:
    An insulating substrate;
    A resistor pattern and a current collector pattern provided on the insulating substrate and spaced apart from each other;
    The rotor rotatably attached to the insulating substrate;
    A slider attached to the rotor so as to be rotatable together with the rotor, and slidingly contacting the resistor pattern and the current collector pattern to conduct the resistor pattern and the current collector pattern. Have
    The rotational drive mechanism according to any one of claims 1 to 6, wherein a maximum dimension effective as a variable resistance of the resistor pattern is equal to or smaller than 4 mm.
PCT/JP2015/075801 2014-12-02 2015-09-11 Rotary drive mechanism WO2016088425A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5841929U (en) * 1981-09-16 1983-03-19 エスエムケイ株式会社 Switch device with connector
JPH11195510A (en) * 1997-12-26 1999-07-21 Teikoku Tsushin Kogyo Co Ltd Rotary variable resistor and connecting structure between metallic members
JP2002267439A (en) * 2001-03-06 2002-09-18 Sony Corp Rotational angle detector
JP2006062019A (en) * 2004-08-26 2006-03-09 Sharp Corp Robot hand

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5841929U (en) * 1981-09-16 1983-03-19 エスエムケイ株式会社 Switch device with connector
JPH11195510A (en) * 1997-12-26 1999-07-21 Teikoku Tsushin Kogyo Co Ltd Rotary variable resistor and connecting structure between metallic members
JP2002267439A (en) * 2001-03-06 2002-09-18 Sony Corp Rotational angle detector
JP2006062019A (en) * 2004-08-26 2006-03-09 Sharp Corp Robot hand

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