WO2019202912A1 - Rotation regulating mechanism, rotary actuator, and robot - Google Patents

Rotation regulating mechanism, rotary actuator, and robot Download PDF

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Publication number
WO2019202912A1
WO2019202912A1 PCT/JP2019/012331 JP2019012331W WO2019202912A1 WO 2019202912 A1 WO2019202912 A1 WO 2019202912A1 JP 2019012331 W JP2019012331 W JP 2019012331W WO 2019202912 A1 WO2019202912 A1 WO 2019202912A1
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WO
WIPO (PCT)
Prior art keywords
restricting
rotation
restricting member
rotating shaft
engaging
Prior art date
Application number
PCT/JP2019/012331
Other languages
French (fr)
Japanese (ja)
Inventor
孝太 瀧上
松田　浩一
Original Assignee
ミネベアミツミ株式会社
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 ミネベアミツミ株式会社 filed Critical ミネベアミツミ株式会社
Priority to CN201990000629.2U priority Critical patent/CN213981742U/en
Publication of WO2019202912A1 publication Critical patent/WO2019202912A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/02—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels
    • B60T1/06—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting by retarding wheels acting otherwise than on tread, e.g. employing rim, drum, disc, or transmission or on double wheels
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D43/00—Automatic clutches
    • F16D43/02—Automatic clutches actuated entirely mechanically
    • F16D43/20—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure
    • F16D43/21—Automatic clutches actuated entirely mechanically controlled by torque, e.g. overload-release clutches, slip-clutches with means by which torque varies the clutching pressure with friction members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D63/00—Brakes not otherwise provided for; Brakes combining more than one of the types of groups F16D49/00 - F16D61/00
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D7/00—Slip couplings, e.g. slipping on overload, for absorbing shock
    • F16D7/02—Slip couplings, e.g. slipping on overload, for absorbing shock of the friction type

Definitions

  • the present invention relates to a rotation restriction mechanism, a rotation actuator, and a robot.
  • a rotation restricting mechanism that restricts rotation of a rotor stopped at a joint portion of an articulated robot includes, for example, a substantially annular rotation-side restricting member fixed to the rotor, and a rotation-side restricting member. Some of them include a fixed-side regulating member that regulates the movement of the rotation-side regulating member in the circumferential direction of the rotor, and a drive mechanism that moves the fixed-side regulating member in the axial direction of the rotor (for example, see Patent Document 1).
  • the rotation-side restriction member when a predetermined or higher torque is applied to the rotation-side restriction member when the fixed-side restriction member is engaged with the rotation-side restriction member, the rotation-side restriction member applies a predetermined amount or more to the rotor. Torque is transmitted from the rotor to the drive side, and the drive side may be damaged.
  • the present invention has been made in view of the above, and an object of the present invention is to provide a rotation restricting mechanism, a rotation actuator, and a robot that can suppress damage on the drive side.
  • a rotation restricting mechanism includes a restricting member, an engaging portion, and a holding portion.
  • the restricting member is attached to a rotation shaft on the driving side and rotates integrally with the rotation shaft.
  • the engaging portion stops the rotation of the rotating shaft by engaging with the restricting member.
  • the holding portion holds the restriction member with respect to the rotation shaft so that a holding force between the rotation shaft and the restriction member can be adjusted.
  • damage on the drive side can be suppressed.
  • FIG. 1 is an explanatory diagram of a robot according to the embodiment.
  • FIG. 2A is an explanatory diagram (part 1) of the rotary actuator according to the embodiment.
  • FIG. 2B is an explanatory diagram (part 2) of the rotary actuator according to the embodiment.
  • FIG. 3A is a perspective view illustrating a non-restricted state of the rotation restricting mechanism according to the embodiment.
  • FIG. 3B is a perspective view showing a restricted state of the rotation restricting mechanism according to the embodiment.
  • FIG. 4A is a perspective view (No. 1) illustrating a regulating member and a holding unit according to the embodiment.
  • FIG. 4B is a perspective view (No. 2) illustrating the regulating member and the holding unit according to the embodiment.
  • FIG. 1 is an explanatory diagram of a robot according to the embodiment.
  • FIG. 2A is an explanatory diagram (part 1) of the rotary actuator according to the embodiment.
  • FIG. 2B is an explanatory diagram (part 2) of the rotary
  • FIG. 5 is a side view showing the regulating member according to the embodiment.
  • Drawing 6A is an explanatory view (the 1) of the engagement state of the engaging part to the regulating member concerning an embodiment.
  • Drawing 6B is an explanatory view (the 2) of the engagement state of the engaging part to the regulating member concerning an embodiment.
  • FIG. 7 is a perspective view showing a rotation restricting mechanism according to a modification.
  • FIG. 8 is a perspective view showing a regulating member according to a modification.
  • FIG. 9 is a side view showing a regulating member according to a modification.
  • FIG. 1 is an explanatory diagram of the robot 10 according to the embodiment, and is a front view showing the robot 10.
  • the robot 10 is a so-called multi-joint robot including a plurality of joint portions (also referred to as robot modules) 12 described later, and is installed in a product assembly line or a production line, for example.
  • FIG. 1 shows a three-dimensional orthogonal coordinate system including the Z axis with the vertical upward as the positive direction for convenience of explanation. Such orthogonal coordinate systems may also be shown in other figures.
  • the robot 10 includes a base portion 11, a plurality of joint portions 12, a plurality of arm portions 13, and a hand portion 14.
  • FIG. 1 shows an example in which the robot 10 includes six joint portions 12 and two arm portions 13.
  • the six joint parts 12 are provided between the base part 11 on the upstream side of the power transmission in the robot 10 and the hand part 14 on the downstream side, the first joint part 12A, the second joint part 12B, and the third joint part 12C.
  • the fourth joint portion 12D, the fifth joint portion 12E, and the sixth joint portion 12F are arranged in this order.
  • the two arm portions 13 have a first arm portion 13A disposed upstream of power transmission in the robot 10 and a second arm portion 13B disposed downstream.
  • the base part 11 supports the robot 10 as a whole by supporting the first joint part 12A.
  • the first joint portion 12 ⁇ / b> A rotates around the axis AX ⁇ b> 1 that is a virtual axis with respect to the base portion 11.
  • the first joint portion 12A rotates (also referred to as turning) in the XY plane.
  • the second joint portion 12B is coupled to the first joint portion 12A and rotates around the axis AX2 with respect to the first joint portion 12A.
  • the second joint portion 12B is connected to one end portion of the first arm portion 13A.
  • the third joint portion 12C is connected to the other end portion of the first arm portion 13A.
  • the fourth joint portion 12D is connected to the third joint portion 12C and rotates around the axis AX3 that is a virtual axis with respect to the third joint portion 12C.
  • 4th joint part 12D is connected with the one end part of 2nd arm part 13B.
  • the fifth joint portion 12E is connected to the other end portion of the second arm portion 13B.
  • the sixth joint portion 12F is connected to the fifth joint portion 12E and rotates around the axis AX4 that is a virtual axis with respect to the fifth joint portion 12E.
  • the hand part 14 is connected to the sixth joint part 12F.
  • the hand unit 14 rotates around the axis AX5.
  • the hand unit 14 is a tip portion (end effector) of the robot 10 and is, for example, a gripping device that grips a component.
  • the hand unit 14 can be replaced according to the use of the robot 10.
  • Examples of the hand unit 14 include a coating device and a welding device in addition to a gripping device.
  • the rotation structure of the robot 10 by the six joint parts 12 is not limited to the above.
  • the robot 10 may be configured to be rotatable between the second joint portion 12B and the first arm portion 13A or between the fourth joint portion 12D and the second arm portion 13B.
  • the six joint portions 12 are each provided with a rotary actuator 20 (see FIG. 2A).
  • the rotary actuator 20 is mounted on the joint portion 12.
  • the robot 10 can perform a multi-axis operation by the rotary actuator 20.
  • FIGS. 2A and 2B are explanatory diagrams of the rotary actuator 20 according to the embodiment.
  • 2A and 2B show a cross section of the XZ plane of, for example, the fourth joint portion 12D among the six joint portions 12.
  • FIG. 2B different types of diagonal lines are attached so that the fixed portion 24 and the rotating portion 25 are clear. For this reason, the diagonal line in FIG. 2B does not necessarily indicate a cross section.
  • the rotary actuator 20 includes a motor 21, a speed reducer 30, and a rotation restricting mechanism 40.
  • the motor 21 is a drive source of the rotary actuator 20 and includes an output shaft 22 extending in the X direction.
  • the output shaft 22 is coaxially connected to a rotary shaft 23 that transmits power to the speed reducer 30.
  • the reduction gear 30 is, for example, a hollow reduction gear in which a through hole is formed in the center in the radial direction.
  • the speed reducer 30 is, for example, a wave gear device, and includes a wave generation unit 31, a flexible external gear 32, and a fixed internal gear 33.
  • the wave generating unit 31 is provided on the outer periphery of the rotating shaft 23 that becomes the output shaft 22 of the motor 21.
  • the wave generation unit 31 is a component in which a ball bearing 311 is incorporated on the outer periphery of the elliptical cam.
  • the wave generator 31 is attached to the outer periphery of the output shaft 22 (rotary shaft 23) of the motor 21.
  • the inner ring of the ball bearing 311 is fixed to the elliptical cam.
  • the flexible external gear 32 has an input side attached to the wave generator 31 and an output side attached to the bearing 35.
  • the flexible external gear 32 is, for example, a cup-shaped flexible part having teeth on the outer periphery of the opening end.
  • the fixed internal gear 33 is fixed to the casing 34 of the speed reducer 30.
  • the fixed internal gear 33 is, for example, a ring-shaped rigid part having teeth on the inner periphery.
  • the rotational power input from the output shaft 22 (rotary shaft 23) of the motor 21 is transmitted while being decelerated in the order of the wave generator 31, the elastic external gear 32, and the fixed internal gear 33, and the bearing 35 to the output unit 36.
  • the rotating unit 25 rotates around the axis of the rotating shaft 23 with respect to the fixed unit 24.
  • the speed reducer 30 is not limited to the wave gear device described above.
  • the reduction gear 30 may be a device other than the wave gear device (for example, a planetary gear device).
  • the rotation restricting mechanism 40 is provided, for example, to restrict the rotation of the rotary actuator 20 when the robot 10 (see FIG. 1) stops its operation.
  • the rotation restricting mechanism 40 includes a restricting member 41, an engaging portion 42, and a holding portion 43.
  • the regulating member 41 is attached to the rotating side of the rotary actuator 20, that is, the rotating shaft 23 that becomes the output shaft 22 of the motor 21 that is a driving source, and rotates integrally with the rotating shaft 23.
  • the engaging part 42 stops the rotation of the rotating shaft 23 by engaging with the regulating member 41.
  • the engaging portion 42 is, for example, a solenoid actuator, and includes a protrusion 421 that can advance and retract in the Z direction.
  • the engaging part 42 is arranged on the outer side in the radial direction of the restricting member 41 with respect to the restricting member 41. Further, the engaging portion 42 advances the protrusion 421 toward the restriction member 41 in the restriction state of the restriction member 41.
  • the holding unit 43 holds the regulating member 41 with respect to the rotating shaft 23.
  • the holding part 43 holds the regulating member 41 so that the holding force between the rotating shaft 23 and the regulating member 41 can be adjusted.
  • maintenance part 43 is later mentioned using FIG. 4A and 4B.
  • FIG. 3A is a perspective view showing a non-restricted state of the rotation restricting mechanism 40 according to the embodiment.
  • FIG. 3B is a perspective view showing a restricted state of the rotation restricting mechanism 40 according to the embodiment.
  • the protrusion 421 of the engaging portion 42 is retracted in the opposite direction (Z negative direction) to the restricting member 41 when the restricting member 41 is in the unregulated state.
  • the restricting member 41 can rotate integrally with the rotating shaft 23.
  • the restricting member 41 when the restricting member 41 is in the restricted state, the protrusion 421 of the engaging portion 42 advances in the direction of the restricting member 41 (Z positive direction), and the protrusion 421 is the restricting member 41. Is engaged with a restricting portion 412 described later. In this case, the restricting member 41 is restricted in rotation and restricts the rotation of the rotary shaft 23.
  • FIGS. 4A and 4B are perspective views showing the regulating member 41 and the holding portion 43 according to the embodiment.
  • FIG. 4B shows a cross section of the XZ plane.
  • the restricting member 41 has a disc shape and includes a through hole 411 and a restricting portion 412.
  • the through hole 411 is formed in the central portion of the regulating member 41.
  • the through-hole 411 is formed in the diameter which can insert the rotating shaft 23 (refer FIG. 2A).
  • the restriction part 412 is provided on the outer peripheral part of the restriction member 41.
  • the restricting portion 412 engages with the protrusion 421 (see FIG. 3B) of the engaging portion 42.
  • the restricting portion 412 includes two convex portions 413 and a concave portion 414.
  • the two convex portions 413 project from the outer peripheral portion of the regulating member 41 toward the radially outer side of the regulating member 41.
  • the two convex portions 413 are arranged at a predetermined interval in the circumferential direction of the restricting member 41, that is, at an interval at which the protruding portion 421 of the engaging portion 42 can enter.
  • the concave portion 414 is formed between the two convex portions 413.
  • the recessed portion 414 engages with the protruding portion 421 when the protruding portion 421 of the engaging portion 42 enters. Thereby, rotation of the regulating member 41 in the circumferential direction can be regulated.
  • a plurality of restriction portions 412 are arranged at equal intervals in the circumferential direction of the restriction member 41. In the illustrated example, four restricting portions 412 are arranged on the outer peripheral portion of the restricting member 41 with an interval (phase difference) of 90 degrees. Details of the restricting portion 412 will be described later with reference to FIGS. 5 to 6B.
  • the holding portion 43 sandwiches the regulating member 41 from the direction intersecting the radial direction of the regulating member 41 (the axial direction of the rotating shaft 23), and holds it on the rotating shaft 23 (see FIG. 2A).
  • the holding portion 43 includes a retaining ring 431, an elastic member 432, and a shim plate 433.
  • the retaining ring 431 is disposed on the outermost side in the X direction in the holding portion 43.
  • the retaining ring 431 is fixed to the rotating shaft 23 by inserting the rotating shaft 23 and fitting in a groove 231 formed on the outer periphery of the rotating shaft 23.
  • the retaining ring 431 sandwiches the regulating member 41 from the direction intersecting the radial direction, the regulating member 41 is fixed (held) to the rotating shaft 23 by the holding portion 43 including the retaining ring 431.
  • the elastic member 432 has, for example, a disk shape and has an elastic force in the thickness direction (X direction).
  • the elastic member 432 is preferably a leaf spring. Further, the elastic member 432 has a through hole through which the rotation shaft 23 can be inserted at the center.
  • the shim plate 433 is disposed on the innermost side in the X direction in the holding portion 43.
  • the shim plate 433 has, for example, a disk shape and is made of metal, for example.
  • the shim plate 433 has a through-hole through which the rotary shaft 23 can be inserted at the center.
  • the holding part 43 can adjust the holding force of the regulating member 41 by adjusting the elastic force of the elastic member 432.
  • the holding unit 43 may adjust (strengthen) the elastic force of the elastic member 432 by pressing the elastic member 432 in the thickness direction (X direction) by changing the thickness of the shim plate 433. Then, the elastic force of the elastic member 432 may be adjusted by using a plurality of elastic members 432 having different elastic coefficients.
  • FIG. 5 is a side view showing the regulating member 41 according to the embodiment.
  • 6A and 6B are explanatory diagrams of the engaging operation of the engaging portion 42 with respect to the regulating member 41 according to the embodiment.
  • 6A and 6B show an engaging operation of the protrusion 421 of the engaging portion 42 in the portion A of FIG.
  • the restricting member 41 shall rotate in the direction shown by arrow R1.
  • the regulating member 41 includes four regulating portions 412 with an interval (phase difference) of 90 degrees on the outer peripheral portion.
  • the regulating portion 412 is offset in parallel to the radial center line (the Y-direction center line L1 and the Z-direction center line L2) of the regulating member 41.
  • the restricting portion 412 disposed on the right side in FIG. 5 will be described as an example.
  • one protruding portion 413a that follows in the rotation direction R1 of the restricting member 41 is the center line. It is deviated from L1 in the tangential line Lt direction.
  • the other convex portion 413b preceding in the rotation direction R1 is shifted in the tangential Lt direction so as to be symmetric with respect to the one convex portion 413a with the center line L1 interposed therebetween.
  • the protruding portion 421 of the engaging portion 42 moves forward with respect to the rotating regulating member 41 due to the offset of the regulating portion 412, for example, the protruding portion 421 is detached from the concave portion 414.
  • the degree of inclination of the convex portion 413 is greater than when the restricting portion 412 is not offset.
  • the force F acting on the protrusion 421 includes a downward component Fb in addition to the horizontal component Fa in the drawing.
  • a force is always acting in the protruding direction (advancing direction).
  • the protrusion 421 moves to the backward side when pushed in the opposite direction (retracting direction) to the protruding direction, but protrudes again when the force is removed.
  • the protrusion 421 is pushed down by the convex portion 413 of the rotating regulating member 41, protrudes after the first convex portion 413 (the other convex portion 413b) passes, and enters the concave portion 414.
  • the force F acting on the protrusion 421 is a horizontal force in the figure. Note that the force F acting on the protrusion 421 is very small even if a downward component in the figure is included.
  • the convex portion 413 of the restricting portion 41 is displaced in the tangential line Lt direction from the radial center line L2 of the restricting member 41, so that the engaging portion 42 that has entered the concave portion 414 contacts the protruding portion 421.
  • the area increases.
  • the rotation restricting mechanism 40 since the holding portion 43 holds the restricting member 41 so that the holding force can be adjusted, the restricting member 41 that rotates integrally with the rotating shaft 23 is engaged.
  • the torque more than a predetermined value is applied to the restricting member 41 by engaging with the portion 42, the holding force of the holding portion 43 is exceeded, and the restricting member 41 slides with respect to the rotating shaft 23, and the rotating shaft 23 has a predetermined force. It is possible to prevent the above torque from being transmitted.
  • the holding force of the holding portion 43 is adjusted by adjusting the elastic force of the elastic member 432, the holding force between the rotating shaft 23 and the regulating member 41 can be easily adjusted.
  • the elastic member 432 is a leaf spring, the elastic member 432 of the holding portion 43 can be configured simply.
  • the holding member 43 is sandwiched by the elastic member 432 from the direction intersecting the radial direction of the restricting member 41, the restricting member 41 can be reliably held.
  • the rotation of the rotating shaft 23 can be stopped by the protrusion 421 of the engaging portion 42 entering the concave portion 414 of the restricting portion 412.
  • the convex portion 413 of the restricting portion 412 is displaced from the radial center line L2 of the restricting member 41 in the tangential line Lt direction, the contact area of the engaging portion 42 entering the concave portion 414 with the protrusion 421 is reduced.
  • the braking force Fa can be improved, and the stress applied to the protrusion 421 can be reduced by reducing the stress concentration. Thereby, breakage of the restricting member 41 and the engaging portion 42 can be suppressed.
  • the engaging portion 42 enters the concave portion 414 from the radial direction of the restricting member 41, for example, the overall height (X direction) compared to a case where the engaging portion 42 enters from a direction orthogonal to the radial direction of the restricting member 41. ) Can be suppressed.
  • the protrusion 421 of the engaging portion 42 with the two convex portions 413 the return of the restricting member 41 in the circumferential direction is restricted, and the restricting member 41 rotates either to the left or right. It becomes possible to respond.
  • an interval until the protrusion 421 of the engaging portion 42 enters the recess 414 of the restricting portion 412 with respect to the rotating restricting member 41 by arranging a plurality of restricting portions 412 in the circumferential direction of the restricting member 41. Since it is short, the time lag from when the engaging part 42 starts operation to when the rotation of the rotating shaft 23 is stopped can be suppressed.
  • the rotary actuator 20 it is possible to prevent the torque more than a predetermined value from being transmitted to the motor 21 on the driving side, and to prevent the motor 21 from being damaged.
  • the holding portion 43 includes the elastic member 432.
  • the elastic member 432 may be omitted.
  • the shim plate 433 serves as a spacer between the restricting member 41, and power transmission between the restricting member 41 and the rotating shaft 23 can be interrupted when a torque exceeding a predetermined value is applied to the restricting member 41. It is also possible to omit the shim plate 433 while leaving the elastic member 432.
  • the elastic member 432 may be provided in only one of them. Even if comprised in this way, the holding
  • the rotation restriction mechanism 40 is provided in the joint portion 12 when the robot 10 is an articulated robot.
  • the robot 10 is not limited to the articulated robot.
  • the rotation restricting mechanism 40 can be used in a wheel module such as an electric automobile.
  • FIG. 7 is a perspective view showing a rotation restricting mechanism 50 according to a modification.
  • FIG. 8 is a perspective view showing a regulating member 51 according to a modification.
  • FIG. 9 is a side view showing a regulating member 51 according to a modification. In FIG. 9, the restricting member 51 is assumed to rotate in the direction indicated by the arrow R2.
  • the configuration of the restriction member 51 is different from that of the rotation restriction mechanism 40 described above.
  • the regulating member 51 will be described, and in other parts, the same or equivalent parts may be denoted by the same reference numerals, and description thereof may be omitted.
  • the rotation restricting mechanism 50 includes a restricting member 51, an engaging portion 42, and a holding portion 43.
  • the restricting member 51 is disposed such that a restricting portion 512, which will be described later, faces the X positive direction.
  • the restricting member 51 has a disk shape and includes a through hole 511 and a restricting portion 512.
  • the through hole 511 is formed in the central portion of the regulating member 51.
  • the through hole 511 is formed to have a diameter through which the rotary shaft 23 (see FIG. 2A) can be inserted.
  • the regulating part 512 is provided on the outer peripheral part of the regulating member 51.
  • the restricting portion 512 is engaged with the protrusion 421 (see FIG. 3B) of the engaging portion 42.
  • the restricting portion 512 includes two convex portions 513 and a concave portion 514.
  • the two convex portions 513 project from the outer peripheral portion of the regulating member 51 in a direction intersecting with the radial direction of the regulating member 41.
  • the two convex portions 513 are arranged at a predetermined interval in the circumferential direction of the restricting member 51, that is, at an interval at which the protruding portion 421 of the engaging portion 42 can enter.
  • the concave portion 514 is formed between the two convex portions 513.
  • the protrusion 421 of the engaging part 42 enters the recess 514, the protrusion 421 and the protrusion 513 are engaged. Thereby, rotation of the regulating member 51 in the circumferential direction can be regulated.
  • a plurality of restricting portions 512 are arranged at equal intervals in the circumferential direction of the restricting member 51. In the illustrated example, eight restricting portions 512 are arranged on the outer peripheral portion of the restricting member 51 with an interval (phase difference) of 45 degrees.
  • the restricting portion 512 is offset in parallel to the radial center line of the restricting member 51.
  • the restricting portion 512 arranged on the right side in FIG. 9 is described as an example, of the two protruding portions 513 of the restricting portion 512, one protruding portion 513a following in the rotation direction R2 of the restricting member 51 is the center line. It is displaced in the tangential direction from L1.
  • the other convex portion 513b preceding in the rotation direction R2 is displaced in the tangential direction so as to be symmetrical with respect to the one convex portion 513a with the center line L1 interposed therebetween.
  • the protruding portion 421 (see FIG. 3B) entering the recessed portion 514 is formed on the protruding portion 513 due to the offset of the restricting portion 512 of the restricting member 51. It abuts against the surface.
  • the protrusion 421 (see FIG. 3B) of the engaging portion 42 enters the recess 514 of the restricting portion 512, so that the rotation of the rotating shaft 23 can be stopped.
  • the rotation restricting mechanism 50 since the convex portion 513 of the restricting portion 512 extends to the output side (X positive direction) in the axial direction of the rotating shaft 23, the rotation according to the above-described embodiment. Compared with the regulating mechanism 40, the diameter can be reduced, that is, the size in the ZY plane can be reduced.
  • the engaging portion 42 enters the concave portion 514 from the radial direction of the restricting member 51, for example, the overall height (X direction) compared to a case where the engaging portion 42 enters from a direction orthogonal to the radial direction of the restricting member 51. ) Can be suppressed. Further, by restricting the protrusion 421 of the engaging portion 42 with the two convex portions 513 (513a, 513b), the return of the restricting member 41 in the circumferential direction is restricted, and the restricting member 41 rotates to either the left or right. Even the configuration can be handled.
  • an interval until the protrusion 421 of the engaging portion 42 enters the concave portion 514 of the restricting portion 512 with respect to the rotating restricting member 51 by arranging a plurality of restricting portions 512 in the circumferential direction of the restricting member 51. Since it is short, the time lag from when the engaging part 42 starts operation to when the rotation of the rotating shaft 23 is stopped can be suppressed.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Braking Arrangements (AREA)
  • One-Way And Automatic Clutches, And Combinations Of Different Clutches (AREA)

Abstract

An embodiment of the present invention provides a rotation regulating mechanism (40) comprising a regulating member (41), an engaging part (42), and a holding part (43). The regulating member (41) is mounted on a driver side of a rotary shaft (23) and rotated integrally with the rotary shaft (23). The engaging part (42) stops the rotation of the rotary shaft (23) by engaging with the regulating member (41). The holding part (43) holds the regulating member (41) to the rotary shaft (23) such that the holding strength between the rotary shaft (23) and the regulating member (41) becomes adjustable.

Description

回転規制機構、回転アクチュエータおよびロボットRotation restriction mechanism, rotation actuator and robot
　本発明は、回転規制機構、回転アクチュエータおよびロボットに関する。 The present invention relates to a rotation restriction mechanism, a rotation actuator, and a robot.
　従来、多関節ロボットの関節部において停止しているロータの回転を規制する回転規制機構には、たとえば、ロータに固定される略円環状の回転側規制部材と、回転側規制部材と係合してロータの周方向における回転側規制部材の移動を規制する固定側規制部材と、固定側規制部材をロータの軸方向に移動させる駆動機構とを備えるものがある（たとえば、特許文献１参照）。 Conventionally, a rotation restricting mechanism that restricts rotation of a rotor stopped at a joint portion of an articulated robot includes, for example, a substantially annular rotation-side restricting member fixed to the rotor, and a rotation-side restricting member. Some of them include a fixed-side regulating member that regulates the movement of the rotation-side regulating member in the circumferential direction of the rotor, and a drive mechanism that moves the fixed-side regulating member in the axial direction of the rotor (for example, see Patent Document 1).
特開２０１７－１８９０８１号公報JP 2017-189081 A
　しかしながら、上記したような回転規制機構では、固定側規制部材が回転側規制部材と係合する場合に回転側規制部材に対して所定以上のトルクがかかると、回転側規制部材からロータに所定以上のトルクが伝達され、ロータから駆動側にまで所定以上のトルクが伝達されてしまい、駆動側が破損するおそれがあった。 However, in the rotation restriction mechanism as described above, when a predetermined or higher torque is applied to the rotation-side restriction member when the fixed-side restriction member is engaged with the rotation-side restriction member, the rotation-side restriction member applies a predetermined amount or more to the rotor. Torque is transmitted from the rotor to the drive side, and the drive side may be damaged.
　本発明は、上記に鑑みてなされたものであって、駆動側の破損を抑えることができる回転規制機構、回転アクチュエータおよびロボットを提供することを目的とする。 The present invention has been made in view of the above, and an object of the present invention is to provide a rotation restricting mechanism, a rotation actuator, and a robot that can suppress damage on the drive side.
　上述した課題を解決し、目的を達成するために、本発明の一態様に係る回転規制機構は、規制部材と、係合部と、保持部とを備える。前記規制部材は、駆動側の回転軸に取り付けられ該回転軸と一体に回転する。前記係合部は、前記規制部材と係合することで前記回転軸の回転を停止させる。前記保持部は、前記回転軸および前記規制部材の間の保持力を調整可能に前記回転軸に対して前記規制部材を保持する。 In order to solve the above-described problems and achieve the object, a rotation restricting mechanism according to an aspect of the present invention includes a restricting member, an engaging portion, and a holding portion. The restricting member is attached to a rotation shaft on the driving side and rotates integrally with the rotation shaft. The engaging portion stops the rotation of the rotating shaft by engaging with the restricting member. The holding portion holds the restriction member with respect to the rotation shaft so that a holding force between the rotation shaft and the restriction member can be adjusted.
　本発明の一態様によれば、駆動側の破損を抑えることができる。 According to one embodiment of the present invention, damage on the drive side can be suppressed.
図１は、実施形態に係るロボットの説明図である。FIG. 1 is an explanatory diagram of a robot according to the embodiment. 図２Ａは、実施形態に係る回転アクチュエータの説明図（その１）である。FIG. 2A is an explanatory diagram (part 1) of the rotary actuator according to the embodiment. 図２Ｂは、実施形態に係る回転アクチュエータの説明図（その２）である。FIG. 2B is an explanatory diagram (part 2) of the rotary actuator according to the embodiment. 図３Ａは、実施形態に係る回転規制機構の非規制状態を示す斜視図である。FIG. 3A is a perspective view illustrating a non-restricted state of the rotation restricting mechanism according to the embodiment. 図３Ｂは、実施形態に係る回転規制機構の規制状態を示す斜視図である。FIG. 3B is a perspective view showing a restricted state of the rotation restricting mechanism according to the embodiment. 図４Ａは、実施形態に係る規制部材および保持部を示す斜視図（その１）である。FIG. 4A is a perspective view (No. 1) illustrating a regulating member and a holding unit according to the embodiment. 図４Ｂは、実施形態に係る規制部材および保持部を示す斜視図（その２）である。FIG. 4B is a perspective view (No. 2) illustrating the regulating member and the holding unit according to the embodiment. 図５は、実施形態に係る規制部材を示す側面図である。FIG. 5 is a side view showing the regulating member according to the embodiment. 図６Ａは、実施形態に係る規制部材に対する係合部の係合状態の説明図（その１）である。Drawing 6A is an explanatory view (the 1) of the engagement state of the engaging part to the regulating member concerning an embodiment. 図６Ｂは、実施形態に係る規制部材に対する係合部の係合状態の説明図（その２）である。Drawing 6B is an explanatory view (the 2) of the engagement state of the engaging part to the regulating member concerning an embodiment. 図７は、変形例に係る回転規制機構を示す斜視図である。FIG. 7 is a perspective view showing a rotation restricting mechanism according to a modification. 図８は、変形例に係る規制部材を示す斜視図である。FIG. 8 is a perspective view showing a regulating member according to a modification. 図９は、変形例に係る規制部材を示す側面図である。FIG. 9 is a side view showing a regulating member according to a modification.
　以下、実施形態に係る回転規制機構、回転アクチュエータおよびロボットについて図面を参照して説明する。なお、以下で説明する実施形態によりこの発明が限定されるものではない。また、図面は模式的なものであり、各要素の寸法の関係、各要素の比率などは現実と異なる場合があることに留意する必要がある。図面の相互間においても互いの寸法の関係や比率が異なる部分が含まれている場合がある。 Hereinafter, a rotation regulating mechanism, a rotation actuator, and a robot according to an embodiment will be described with reference to the drawings. In addition, this invention is not limited by embodiment described below. Also, it should be noted that the drawings are schematic, and the relationship between the dimensions of each element, the ratio of each element, and the like may differ from the actual situation. In some cases, portions having different dimensional relationships and ratios may be included between the drawings.
＜ロボットの概要＞
　まず、図１を参照して実施形態に係るロボット１０の概要について説明する。図１は、実施形態に係るロボット１０の説明図であり、ロボット１０を示す正面図である。ロボット１０は、後述する関節部（ロボットモジュールともいう）１２を複数備えるいわゆる多関節ロボットであり、たとえば、製品の組立ラインや製造ラインに設置される。 <Overview of the robot>
First, an outline of the robot 10 according to the embodiment will be described with reference to FIG. FIG. 1 is an explanatory diagram of the robot 10 according to the embodiment, and is a front view showing the robot 10. The robot 10 is a so-called multi-joint robot including a plurality of joint portions (also referred to as robot modules) 12 described later, and is installed in a product assembly line or a production line, for example.
　なお、図１には、説明の便宜上、鉛直上向きを正方向とするＺ軸を含む３次元の直交座標系を示している。かかる直交座標系は、他の図においても示している場合がある。 FIG. 1 shows a three-dimensional orthogonal coordinate system including the Z axis with the vertical upward as the positive direction for convenience of explanation. Such orthogonal coordinate systems may also be shown in other figures.
　図１に示すように、ロボット１０は、ベース部１１と、複数の関節部１２と、複数のアーム部１３と、ハンド部１４とを備える。なお、図１には、ロボット１０が、６つの関節部１２と、２つのアーム部１３とを備える例を示している。 As shown in FIG. 1, the robot 10 includes a base portion 11, a plurality of joint portions 12, a plurality of arm portions 13, and a hand portion 14. FIG. 1 shows an example in which the robot 10 includes six joint portions 12 and two arm portions 13.
　６つの関節部１２は、ロボット１０における動力伝達の上流側となるベース部１１から下流側となるハンド部１４までの間に、第１関節部１２Ａ、第２関節部１２Ｂ、第３関節部１２Ｃ、第４関節部１２Ｄ、第５関節部１２Ｅ、第６関節部１２Ｆの順に配置される。また、２つのアーム部１３は、ロボット１０における動力伝達の上流側に第１アーム部１３Ａが配置され、下流側に第２アーム部１３Ｂが配置される。 The six joint parts 12 are provided between the base part 11 on the upstream side of the power transmission in the robot 10 and the hand part 14 on the downstream side, the first joint part 12A, the second joint part 12B, and the third joint part 12C. The fourth joint portion 12D, the fifth joint portion 12E, and the sixth joint portion 12F are arranged in this order. The two arm portions 13 have a first arm portion 13A disposed upstream of power transmission in the robot 10 and a second arm portion 13B disposed downstream.
　ベース部１１は、第１関節部１２Ａを支持することで、ロボット１０を全体的に支持する。６つの関節部１２のうち、第１関節部１２Ａは、ベース部１１に対して仮想軸である軸ＡＸ１の軸まわりに回転する。第１関節部１２Ａは、Ｘ－Ｙ平面において回転（旋回ともいう）する。第２関節部１２Ｂは、第１関節部１２Ａに連結され、第１関節部１２Ａに対して軸ＡＸ２の軸まわりに回転する。 The base part 11 supports the robot 10 as a whole by supporting the first joint part 12A. Among the six joint portions 12, the first joint portion 12 </ b> A rotates around the axis AX <b> 1 that is a virtual axis with respect to the base portion 11. The first joint portion 12A rotates (also referred to as turning) in the XY plane. The second joint portion 12B is coupled to the first joint portion 12A and rotates around the axis AX2 with respect to the first joint portion 12A.
　また、第２関節部１２Ｂは、第１アーム部１３Ａの一端部と連結される。第３関節部１２Ｃは、第１アーム部１３Ａの他端部と連結される。第４関節部１２Ｄは、第３関節部１２Ｃに連結され、第３関節部１２Ｃに対して仮想軸である軸ＡＸ３の軸まわりに回転する。また、第４関節部１２Ｄは、第２アーム部１３Ｂの一端部と連結される。 Further, the second joint portion 12B is connected to one end portion of the first arm portion 13A. The third joint portion 12C is connected to the other end portion of the first arm portion 13A. The fourth joint portion 12D is connected to the third joint portion 12C and rotates around the axis AX3 that is a virtual axis with respect to the third joint portion 12C. Moreover, 4th joint part 12D is connected with the one end part of 2nd arm part 13B.
　第５関節部１２Ｅは、第２アーム部１３Ｂの他端部と連結される。第６関節部１２Ｆは、第５関節部１２Ｅに連結され、第５関節部１２Ｅに対して仮想軸である軸ＡＸ４の軸まわりに回転する。第６関節部１２Ｆには、ハンド部１４が連結される。ハンド部１４は、軸ＡＸ５の軸まわりに回転する。 The fifth joint portion 12E is connected to the other end portion of the second arm portion 13B. The sixth joint portion 12F is connected to the fifth joint portion 12E and rotates around the axis AX4 that is a virtual axis with respect to the fifth joint portion 12E. The hand part 14 is connected to the sixth joint part 12F. The hand unit 14 rotates around the axis AX5.
　ハンド部１４は、ロボット１０の先端部（エンドエフェクタ）であり、たとえば、部品を把持する把持装置である。ハンド部１４は、ロボット１０の用途に応じて付け替え可能である。ハンド部１４としては、把持装置の他、塗布装置や溶接装置などがある。なお、６つの関節部１２によるロボット１０の回転構成は上記に限定されない。ロボット１０は、たとえば、第２関節部１２Ｂと第１アーム部１３Ａとの間や、第４関節部１２Ｄと第２アーム部１３Ｂとの間が回転可能に構成されてもよい。 The hand unit 14 is a tip portion (end effector) of the robot 10 and is, for example, a gripping device that grips a component. The hand unit 14 can be replaced according to the use of the robot 10. Examples of the hand unit 14 include a coating device and a welding device in addition to a gripping device. In addition, the rotation structure of the robot 10 by the six joint parts 12 is not limited to the above. For example, the robot 10 may be configured to be rotatable between the second joint portion 12B and the first arm portion 13A or between the fourth joint portion 12D and the second arm portion 13B.
　また、６つの関節部１２は、回転アクチュエータ２０（図２Ａ参照）をそれぞれ備える。言い換えると、回転アクチュエータ２０は、関節部１２に搭載される。ロボット１０は、回転アクチュエータ２０によって多軸動作を行うことができる。 Further, the six joint portions 12 are each provided with a rotary actuator 20 (see FIG. 2A). In other words, the rotary actuator 20 is mounted on the joint portion 12. The robot 10 can perform a multi-axis operation by the rotary actuator 20.
＜回転アクチュエータ＞
　次に、図２Ａおよび図２Ｂを参照して回転アクチュエータ２０について説明する。図２Ａおよび図２Ｂは、実施形態に係る回転アクチュエータ２０の説明図である。なお、図２Ａおよび図２Ｂには、６つの関節部１２のうち、たとえば、第４関節部１２ＤにおけるＸ－Ｚ面の断面を示している。また、図２Ｂにおいては、固定部２４と回転部２５とが明確になるように、両者で異なる種類の斜線を付している。このため、図２Ｂにおいて斜線は必ずしも断面を示すものではない。 <Rotary actuator>
Next, the rotary actuator 20 will be described with reference to FIGS. 2A and 2B. 2A and 2B are explanatory diagrams of the rotary actuator 20 according to the embodiment. 2A and 2B show a cross section of the XZ plane of, for example, the fourth joint portion 12D among the six joint portions 12. Further, in FIG. 2B, different types of diagonal lines are attached so that the fixed portion 24 and the rotating portion 25 are clear. For this reason, the diagonal line in FIG. 2B does not necessarily indicate a cross section.
　図２Ａに示すように、回転アクチュエータ２０は、モータ２１と、減速機３０と、回転規制機構４０とを備える。モータ２１は、回転アクチュエータ２０の駆動源であり、Ｘ方向に延びた出力軸２２を備える。出力軸２２は、減速機３０に動力を伝達する回転軸２３に対して同軸で連結される。 2A, the rotary actuator 20 includes a motor 21, a speed reducer 30, and a rotation restricting mechanism 40. The motor 21 is a drive source of the rotary actuator 20 and includes an output shaft 22 extending in the X direction. The output shaft 22 is coaxially connected to a rotary shaft 23 that transmits power to the speed reducer 30.
　減速機３０は、たとえば、径方向の中心に貫通孔が形成された中空減速機である。減速機３０は、たとえば、波動歯車装置であり、波動発生部３１と、可撓性外歯歯車３２と、固定内歯歯車３３とを備える。波動発生部３１は、モータ２１の出力軸２２となる回転軸２３の外周に設けられる。 The reduction gear 30 is, for example, a hollow reduction gear in which a through hole is formed in the center in the radial direction. The speed reducer 30 is, for example, a wave gear device, and includes a wave generation unit 31, a flexible external gear 32, and a fixed internal gear 33. The wave generating unit 31 is provided on the outer periphery of the rotating shaft 23 that becomes the output shaft 22 of the motor 21.
　波動発生部３１は、楕円状カムの外周にボールベアリング３１１が組み込まれた部品である。波動発生部３１は、モータ２１の出力軸２２（回転軸２３）の外周に取り付けられる。波動発生部３１は、ボールベアリング３１１の内輪が楕円状カムに固定される。 The wave generation unit 31 is a component in which a ball bearing 311 is incorporated on the outer periphery of the elliptical cam. The wave generator 31 is attached to the outer periphery of the output shaft 22 (rotary shaft 23) of the motor 21. In the wave generating unit 31, the inner ring of the ball bearing 311 is fixed to the elliptical cam.
　可撓性外歯歯車３２は、入力側が波動発生部３１に取り付けられ、出力側が軸受３５に取り付けられる。可撓性外歯歯車３２は、開口端部の外周に歯を有する、たとえばカップ状の可撓性部品である。固定内歯歯車３３は、減速機３０のケーシング３４に固定される。固定内歯歯車３３は、内周に歯を有する、たとえばリング状の剛性部品である。 The flexible external gear 32 has an input side attached to the wave generator 31 and an output side attached to the bearing 35. The flexible external gear 32 is, for example, a cup-shaped flexible part having teeth on the outer periphery of the opening end. The fixed internal gear 33 is fixed to the casing 34 of the speed reducer 30. The fixed internal gear 33 is, for example, a ring-shaped rigid part having teeth on the inner periphery.
　減速機３０においては、モータ２１の出力軸２２（回転軸２３）から入力された回転動力が、波動発生部３１、弾性外歯歯車３２、固定内歯歯車３３の順に減速されながら伝達され、軸受３５から出力部３６に向けて出力される。図２Ｂに示すように、回転アクチュエータ２０においては、固定部２４に対して回転部２５が回転軸２３の軸まわりに回転する。 In the speed reducer 30, the rotational power input from the output shaft 22 (rotary shaft 23) of the motor 21 is transmitted while being decelerated in the order of the wave generator 31, the elastic external gear 32, and the fixed internal gear 33, and the bearing 35 to the output unit 36. As shown in FIG. 2B, in the rotary actuator 20, the rotating unit 25 rotates around the axis of the rotating shaft 23 with respect to the fixed unit 24.
　なお、減速機３０は、上記した波動歯車装置に限定されない。減速機３０は、波動歯車装置以外の装置（たとえば、遊星歯車装置）でもよい。 The speed reducer 30 is not limited to the wave gear device described above. The reduction gear 30 may be a device other than the wave gear device (for example, a planetary gear device).
＜回転規制機構＞
　次に、図２Ａ～図６Ｂを参照して回転規制機構４０について説明する。回転規制機構４０は、たとえば、ロボット１０（図１参照）が動作を停止する場合に、回転アクチュエータ２０を回転規制するために設けられる。図２Ａおよび図２Ｂに示すように、回転規制機構４０は、規制部材４１と、係合部４２と、保持部４３とを備える。 <Rotation restriction mechanism>
Next, the rotation restricting mechanism 40 will be described with reference to FIGS. 2A to 6B. The rotation restricting mechanism 40 is provided, for example, to restrict the rotation of the rotary actuator 20 when the robot 10 (see FIG. 1) stops its operation. As shown in FIGS. 2A and 2B, the rotation restricting mechanism 40 includes a restricting member 41, an engaging portion 42, and a holding portion 43.
　規制部材４１は、回転アクチュエータ２０の駆動側、すなわち、駆動源であるモータ２１の出力軸２２となる回転軸２３に取り付けられ、回転軸２３と一体に回転する。係合部４２は、規制部材４１と係合することで、回転軸２３の回転を停止させる。係合部４２は、たとえば、ソレノイドアクチュエータであり、Ｚ方向に進退可能な突部４２１を備える。 The regulating member 41 is attached to the rotating side of the rotary actuator 20, that is, the rotating shaft 23 that becomes the output shaft 22 of the motor 21 that is a driving source, and rotates integrally with the rotating shaft 23. The engaging part 42 stops the rotation of the rotating shaft 23 by engaging with the regulating member 41. The engaging portion 42 is, for example, a solenoid actuator, and includes a protrusion 421 that can advance and retract in the Z direction.
　係合部４２は、規制部材４１に対して規制部材４１の径方向の外側に配置される。また、係合部４２は、規制部材４１の規制状態において、規制部材４１に向けて突部４２１を進出させる。 The engaging part 42 is arranged on the outer side in the radial direction of the restricting member 41 with respect to the restricting member 41. Further, the engaging portion 42 advances the protrusion 421 toward the restriction member 41 in the restriction state of the restriction member 41.
　保持部４３は、回転軸２３に対して規制部材４１を保持する。保持部４３は、回転軸２３および規制部材４１の間の保持力を調整可能に規制部材４１を保持する。なお、規制部材４１および保持部４３の構成については、図４Ａおよび図４Ｂを用いて後述する。 The holding unit 43 holds the regulating member 41 with respect to the rotating shaft 23. The holding part 43 holds the regulating member 41 so that the holding force between the rotating shaft 23 and the regulating member 41 can be adjusted. In addition, the structure of the control member 41 and the holding | maintenance part 43 is later mentioned using FIG. 4A and 4B.
　図３Ａは、実施形態に係る回転規制機構４０の非規制状態を示す斜視図である。図３Ｂは、実施形態に係る回転規制機構４０の規制状態を示す斜視図である。図３Ａに示すように、回転規制機構４０は、規制部材４１の非規制状態では係合部４２の突部４２１が規制部材４１とは反対方向（Ｚ負方向）に後退している。この場合、規制部材４１は、回転軸２３と一体に回転可能である。 FIG. 3A is a perspective view showing a non-restricted state of the rotation restricting mechanism 40 according to the embodiment. FIG. 3B is a perspective view showing a restricted state of the rotation restricting mechanism 40 according to the embodiment. As shown in FIG. 3A, in the rotation restricting mechanism 40, the protrusion 421 of the engaging portion 42 is retracted in the opposite direction (Z negative direction) to the restricting member 41 when the restricting member 41 is in the unregulated state. In this case, the restricting member 41 can rotate integrally with the rotating shaft 23.
　図３Ｂに示すように、回転規制機構４０は、規制部材４１の規制状態では係合部４２の突部４２１が規制部材４１の方向（Ｚ正方向）に進出し、突部４２１が規制部材４１の後述する規制部４１２と係合する。この場合、規制部材４１は、回転規制されるとともに、回転軸２３を回転規制する。 As shown in FIG. 3B, in the rotation restricting mechanism 40, when the restricting member 41 is in the restricted state, the protrusion 421 of the engaging portion 42 advances in the direction of the restricting member 41 (Z positive direction), and the protrusion 421 is the restricting member 41. Is engaged with a restricting portion 412 described later. In this case, the restricting member 41 is restricted in rotation and restricts the rotation of the rotary shaft 23.
　図４Ａおよび図４Ｂは、実施形態に係る規制部材４１および保持部４３を示す斜視図である。なお、図４Ｂは、Ｘ－Ｚ面の断面を示している。図４Ａおよび図４Ｂに示すように、規制部材４１は、円板状であり、貫通孔４１１と、規制部４１２とを備える。貫通孔４１１は、規制部材４１の中央部に形成される。また、貫通孔４１１は、回転軸２３（図２Ａ参照）が挿通可能な径に形成される。 4A and 4B are perspective views showing the regulating member 41 and the holding portion 43 according to the embodiment. FIG. 4B shows a cross section of the XZ plane. As shown in FIGS. 4A and 4B, the restricting member 41 has a disc shape and includes a through hole 411 and a restricting portion 412. The through hole 411 is formed in the central portion of the regulating member 41. Moreover, the through-hole 411 is formed in the diameter which can insert the rotating shaft 23 (refer FIG. 2A).
　規制部４１２は、規制部材４１の外周部に設けられる。規制部４１２は、係合部４２の突部４２１（図３Ｂ参照）と係合する。規制部４１２は、２つの凸部４１３と、凹部４１４とを備える。２つの凸部４１３は、規制部材４１の外周部から規制部材４１の径方向の外側に向けて突設される。２つの凸部４１３は、規制部材４１の周方向に所定間隔、すなわち、係合部４２の突部４２１が進入可能な間隔をあけて配置される。 The restriction part 412 is provided on the outer peripheral part of the restriction member 41. The restricting portion 412 engages with the protrusion 421 (see FIG. 3B) of the engaging portion 42. The restricting portion 412 includes two convex portions 413 and a concave portion 414. The two convex portions 413 project from the outer peripheral portion of the regulating member 41 toward the radially outer side of the regulating member 41. The two convex portions 413 are arranged at a predetermined interval in the circumferential direction of the restricting member 41, that is, at an interval at which the protruding portion 421 of the engaging portion 42 can enter.
　凹部４１４は、２つの凸部４１３の間に形成される。凹部４１４は、係合部４２の突部４２１が入り込むことで、突部４２１と係合する。これにより、規制部材４１の周方向の回転を規制することができる。また、規制部４１２は、規制部材４１の周方向に等間隔で複数配置される。図示の例では、規制部４１２は、規制部材４１の外周部に９０度の間隔（位相差）をあけて４つ配置される。なお、規制部４１２の詳細については、図５～図６Ｂを用いて後述する。 The concave portion 414 is formed between the two convex portions 413. The recessed portion 414 engages with the protruding portion 421 when the protruding portion 421 of the engaging portion 42 enters. Thereby, rotation of the regulating member 41 in the circumferential direction can be regulated. In addition, a plurality of restriction portions 412 are arranged at equal intervals in the circumferential direction of the restriction member 41. In the illustrated example, four restricting portions 412 are arranged on the outer peripheral portion of the restricting member 41 with an interval (phase difference) of 90 degrees. Details of the restricting portion 412 will be described later with reference to FIGS. 5 to 6B.
　図４Ｂに示すように、保持部４３は、規制部材４１を、規制部材４１の径方向と交わる方向（回転軸２３の軸方向）から挟み込み、回転軸２３（図２Ａ参照）に保持する。保持部４３は、止め輪４３１と、弾性部材４３２と、シム板４３３とを備える。止め輪４３１は、保持部４３におけるＸ方向の最も外側に配置される。 As shown in FIG. 4B, the holding portion 43 sandwiches the regulating member 41 from the direction intersecting the radial direction of the regulating member 41 (the axial direction of the rotating shaft 23), and holds it on the rotating shaft 23 (see FIG. 2A). The holding portion 43 includes a retaining ring 431, an elastic member 432, and a shim plate 433. The retaining ring 431 is disposed on the outermost side in the X direction in the holding portion 43.
　止め輪４３１は、回転軸２３が挿通され、回転軸２３の外周に形成された溝２３１に嵌ることで、回転軸２３に固定される。かかる止め輪４３１が規制部材４１を径方向と交わる方向から挟み込むことで、止め輪４３１を含む保持部４３によって規制部材４１を回転軸２３に固定（保持）する。 The retaining ring 431 is fixed to the rotating shaft 23 by inserting the rotating shaft 23 and fitting in a groove 231 formed on the outer periphery of the rotating shaft 23. When the retaining ring 431 sandwiches the regulating member 41 from the direction intersecting the radial direction, the regulating member 41 is fixed (held) to the rotating shaft 23 by the holding portion 43 including the retaining ring 431.
　弾性部材４３２は、たとえば、円板状であり、厚さ方向（Ｘ方向）に弾性力を有する。弾性部材４３２は、板バネであることが好ましい。また、弾性部材４３２は、中央部に回転軸２３が挿通可能な貫通孔を有する。シム板４３３は、保持部４３におけるＸ方向の最も内側に配置される。シム板４３３は、たとえば、円板状であり、たとえば、金属製である。また、シム板４３３は、中央部に回転軸２３が挿通可能な貫通孔を有する。 The elastic member 432 has, for example, a disk shape and has an elastic force in the thickness direction (X direction). The elastic member 432 is preferably a leaf spring. Further, the elastic member 432 has a through hole through which the rotation shaft 23 can be inserted at the center. The shim plate 433 is disposed on the innermost side in the X direction in the holding portion 43. The shim plate 433 has, for example, a disk shape and is made of metal, for example. In addition, the shim plate 433 has a through-hole through which the rotary shaft 23 can be inserted at the center.
　保持部４３は、弾性部材４３２の弾性力を調整することで、規制部材４１の保持力を調整可能である。ここで、係合部４２が規制部材４１と係合した場合、規制部材４１から回転軸２３に伝達されるトルクが保持部４３の保持力を上回ると、回転軸２３に対して規制部材４１が滑り、規制部材４１は回転しなくなる。保持部４３は、たとえば、シム板４３３の厚さを変更することで、弾性部材４３２を厚さ方向（Ｘ方向）に圧迫することで弾性部材４３２の弾性力を調整（強化）してもよいし、弾性係数の異なる複数の弾性部材４３２を用いることで弾性部材４３２の弾性力を調整してもよい。 The holding part 43 can adjust the holding force of the regulating member 41 by adjusting the elastic force of the elastic member 432. Here, when the engaging portion 42 is engaged with the restricting member 41, if the torque transmitted from the restricting member 41 to the rotating shaft 23 exceeds the holding force of the holding portion 43, the restricting member 41 is against the rotating shaft 23. Sliding and the restricting member 41 do not rotate. For example, the holding unit 43 may adjust (strengthen) the elastic force of the elastic member 432 by pressing the elastic member 432 in the thickness direction (X direction) by changing the thickness of the shim plate 433. Then, the elastic force of the elastic member 432 may be adjusted by using a plurality of elastic members 432 having different elastic coefficients.
　ここで、規制部材４１における規制部４１２の詳細について説明する。図５は、実施形態に係る規制部材４１を示す側面図である。図６Ａおよび図６Ｂは、実施形態に係る規制部材４１に対する係合部４２の係合動作の説明図である。なお、図６Ａおよび図６Ｂには、図５のＡ部における係合部４２の突部４２１の係合動作を示している。また、図５、図６Ａおよび図６Ｂにおいて規制部材４１は、矢線Ｒ１で示す方向に回転するものとする。 Here, details of the restricting portion 412 in the restricting member 41 will be described. FIG. 5 is a side view showing the regulating member 41 according to the embodiment. 6A and 6B are explanatory diagrams of the engaging operation of the engaging portion 42 with respect to the regulating member 41 according to the embodiment. 6A and 6B show an engaging operation of the protrusion 421 of the engaging portion 42 in the portion A of FIG. Moreover, in FIG. 5, FIG. 6A and FIG. 6B, the restricting member 41 shall rotate in the direction shown by arrow R1.
　図５に示すように、規制部材４１は、外周部に９０度の間隔（位相差）をあけて４つの規制部４１２を備える。 As shown in FIG. 5, the regulating member 41 includes four regulating portions 412 with an interval (phase difference) of 90 degrees on the outer peripheral portion.
　規制部４１２は、規制部材４１の径方向の中心線（Ｙ方向の中心線Ｌ１およびＺ方向の中心線Ｌ２）に対して平行にオフセットされている。図５中の右方に配置された規制部４１２を例に説明すると、規制部４１２の２つの凸部４１３のうち、規制部材４１の回転方向Ｒ１において後行する一方の凸部４１３ａが中心線Ｌ１から接線Ｌｔ方向にずれている。また、２つの凸部４１３のうち、回転方向Ｒ１において先行する他方の凸部４１３ｂは、一方の凸部４１３ａとは中心線Ｌ１を挟んで対称となるように接線Ｌｔ方向にずれている。 The regulating portion 412 is offset in parallel to the radial center line (the Y-direction center line L1 and the Z-direction center line L2) of the regulating member 41. The restricting portion 412 disposed on the right side in FIG. 5 will be described as an example. Of the two protruding portions 413 of the restricting portion 412, one protruding portion 413a that follows in the rotation direction R1 of the restricting member 41 is the center line. It is deviated from L1 in the tangential line Lt direction. Of the two convex portions 413, the other convex portion 413b preceding in the rotation direction R1 is shifted in the tangential Lt direction so as to be symmetric with respect to the one convex portion 413a with the center line L1 interposed therebetween.
　図６Ａに示すように、規制部４１２がオフセットされていることで、回転する規制部材４１に対して係合部４２の突部４２１が進出する場合、たとえば、突部４２１が凹部４１４から外れて回転方向前側の１つ目の凸部４１３の外側面に当接すると、規制部４１２がオフセットされていない場合に比べて凸部４１３の傾斜の度合いが大きい。 As shown in FIG. 6A, when the protruding portion 421 of the engaging portion 42 moves forward with respect to the rotating regulating member 41 due to the offset of the regulating portion 412, for example, the protruding portion 421 is detached from the concave portion 414. When abutting against the outer surface of the first convex portion 413 on the front side in the rotational direction, the degree of inclination of the convex portion 413 is greater than when the restricting portion 412 is not offset.
　この場合、図６Ａに示すように、突部４２１に作用する力Ｆは、図中水平方向の成分Ｆａに加えて図中下向きの成分Ｆｂが含まれる。また、係合部４２の突部４２１は、規制部材４１の回転規制のために突き出す場合、突き出す方向（進出方向）に常時力が働いている。突部４２１は、突き出す方向と反対方向（後退方向）に押されると後退側に移動するが、力が除かれると再び突き出す。このため、突部４２１は、回転する規制部材４１の凸部４１３によって押し下げられ、１つ目の凸部４１３（他方の凸部４１３ｂ）が通過した後に突き出して凹部４１４に入り込む。 In this case, as shown in FIG. 6A, the force F acting on the protrusion 421 includes a downward component Fb in addition to the horizontal component Fa in the drawing. Further, when the protruding portion 421 of the engaging portion 42 protrudes for restricting the rotation of the restricting member 41, a force is always acting in the protruding direction (advancing direction). The protrusion 421 moves to the backward side when pushed in the opposite direction (retracting direction) to the protruding direction, but protrudes again when the force is removed. For this reason, the protrusion 421 is pushed down by the convex portion 413 of the rotating regulating member 41, protrudes after the first convex portion 413 (the other convex portion 413b) passes, and enters the concave portion 414.
　図６Ｂに示すように、突部４２１が凹部４１４に入り込むと、突部４２１は、２つ目の凸部４１３（一方の凸部４１３ａ）に対して面で当接する。この場合、突部４２１に作用する力Ｆは、図中水平方向の力である。なお、突部４２１に作用する力Ｆに図中下向きの成分が含まれるとしても微小である。 As shown in FIG. 6B, when the protrusion 421 enters the recess 414, the protrusion 421 comes into contact with the second protrusion 413 (one protrusion 413a) on the surface. In this case, the force F acting on the protrusion 421 is a horizontal force in the figure. Note that the force F acting on the protrusion 421 is very small even if a downward component in the figure is included.
　このように、規制部４１の凸部４１３が規制部材４１の径方向の中心線Ｌ２から接線Ｌｔ方向にずれていることで、凹部４１４に入り込んだ係合部４２の突部４２１との当接面積が増大する。 As described above, the convex portion 413 of the restricting portion 41 is displaced in the tangential line Lt direction from the radial center line L2 of the restricting member 41, so that the engaging portion 42 that has entered the concave portion 414 contacts the protruding portion 421. The area increases.
　以上説明したように、実施形態に係る回転規制機構４０によれば、保持部４３が保持力を調整可能に規制部材４１を保持するため、回転軸２３と一体に回転する規制部材４１が係合部４２と係合して規制部材４１に所定以上のトルクがかかった場合に、保持部４３の保持力を上回り、回転軸２３に対して規制部材４１が滑るようになり、回転軸２３に所定以上のトルクが伝達されるのを防止することができる。 As described above, according to the rotation restricting mechanism 40 according to the embodiment, since the holding portion 43 holds the restricting member 41 so that the holding force can be adjusted, the restricting member 41 that rotates integrally with the rotating shaft 23 is engaged. When the torque more than a predetermined value is applied to the restricting member 41 by engaging with the portion 42, the holding force of the holding portion 43 is exceeded, and the restricting member 41 slides with respect to the rotating shaft 23, and the rotating shaft 23 has a predetermined force. It is possible to prevent the above torque from being transmitted.
　これにより、回転軸２３から駆動側、すなわち、駆動源であるモータ２１に所定以上のトルクが伝達されるのを防止することができ、モータ２１の破損を抑えることができる。 Thereby, it is possible to prevent the torque more than a predetermined value from being transmitted from the rotating shaft 23 to the driving side, that is, the motor 21 that is the driving source, and to prevent the motor 21 from being damaged.
　また、弾性部材４３２の弾性力を調整することで保持部４３の保持力が調整されるため、回転軸２３および規制部材４１の間の保持力を容易に調整することができる。また、弾性部材４３２が板バネであるため、保持部４３の弾性部材４３２を簡素な構成とすることができる。また、保持部４３が規制部材４１の径方向と交わる方向から弾性部材４３２により規制部材４１を挟み込むため、規制部材４１を確実に保持することができる。 Further, since the holding force of the holding portion 43 is adjusted by adjusting the elastic force of the elastic member 432, the holding force between the rotating shaft 23 and the regulating member 41 can be easily adjusted. Further, since the elastic member 432 is a leaf spring, the elastic member 432 of the holding portion 43 can be configured simply. In addition, since the holding member 43 is sandwiched by the elastic member 432 from the direction intersecting the radial direction of the restricting member 41, the restricting member 41 can be reliably held.
　また、規制部４１２の凹部４１４に係合部４２の突部４２１が入り込むことで、回転軸２３の回転を停止させることができる。この場合、規制部４１２の凸部４１３が規制部材４１の径方向の中心線Ｌ２から接線Ｌｔ方向にずれているため、凹部４１４に入り込んだ係合部４２の突部４２１との当接面積を増大させることができ、制動力Ｆａを向上させることができ、また、応力の集中を緩和して突部４２１にかかる負荷を低減することができる。これにより、規制部材４１および係合部４２の破損を抑えることができる。 Further, the rotation of the rotating shaft 23 can be stopped by the protrusion 421 of the engaging portion 42 entering the concave portion 414 of the restricting portion 412. In this case, since the convex portion 413 of the restricting portion 412 is displaced from the radial center line L2 of the restricting member 41 in the tangential line Lt direction, the contact area of the engaging portion 42 entering the concave portion 414 with the protrusion 421 is reduced. The braking force Fa can be improved, and the stress applied to the protrusion 421 can be reduced by reducing the stress concentration. Thereby, breakage of the restricting member 41 and the engaging portion 42 can be suppressed.
　また、係合部４２が規制部材４１の径方向から凹部４１４に入り込むため、たとえば、係合部４２が規制部材４１の径方向と直交する方向から入り込む場合に比べて全体の高さ（Ｘ方向）を抑えることができる。また、２つの凸部４１３で係合部４２の突部４２１を規制することで、規制部材４１の周方向における戻りを規制するとともに、規制部材４１が左右のいずれに回転する構成であっても対応可能となる。 Further, since the engaging portion 42 enters the concave portion 414 from the radial direction of the restricting member 41, for example, the overall height (X direction) compared to a case where the engaging portion 42 enters from a direction orthogonal to the radial direction of the restricting member 41. ) Can be suppressed. In addition, by restricting the protrusion 421 of the engaging portion 42 with the two convex portions 413, the return of the restricting member 41 in the circumferential direction is restricted, and the restricting member 41 rotates either to the left or right. It becomes possible to respond.
　また、規制部４１２が規制部材４１の周方向に複数配置されることで回転している規制部材４１に対して規制部４１２の凹部４１４に係合部４２の突部４２１が入り込むまでの間隔が短いため、係合部４２が動作を開始してから回転軸２３の回転を停止させるまでのタイムラグを抑えることができる。 In addition, an interval until the protrusion 421 of the engaging portion 42 enters the recess 414 of the restricting portion 412 with respect to the rotating restricting member 41 by arranging a plurality of restricting portions 412 in the circumferential direction of the restricting member 41. Since it is short, the time lag from when the engaging part 42 starts operation to when the rotation of the rotating shaft 23 is stopped can be suppressed.
　また、上記した実施形態に係る回転アクチュエータ２０によれば、駆動側となるモータ２１に所定以上のトルクが伝達されるのを防止することができ、モータ２１の破損を抑えることができる。 Further, according to the rotary actuator 20 according to the above-described embodiment, it is possible to prevent the torque more than a predetermined value from being transmitted to the motor 21 on the driving side, and to prevent the motor 21 from being damaged.
　また、上記した実施形態に係るロボット１０によれば、回転アクチュエータ２０においてモータ２１の破損を抑えることができるため、耐久性を向上させることができる。 Further, according to the robot 10 according to the above-described embodiment, since the breakage of the motor 21 in the rotary actuator 20 can be suppressed, durability can be improved.
　なお、上記した実施形態では、保持部４３が弾性部材４３２を備える構成としているが、弾性部材４３２を省略した構成としてもよい。この場合、シム板４３３が規制部材４１との間のスペーサとなり、規制部材４１に所定以上のトルクがかかった場合に、規制部材４１と回転軸２３との動力伝達を遮断することができる。また、弾性部材４３２を残してシム板４３３を省略することも可能である。 In the above-described embodiment, the holding portion 43 includes the elastic member 432. However, the elastic member 432 may be omitted. In this case, the shim plate 433 serves as a spacer between the restricting member 41, and power transmission between the restricting member 41 and the rotating shaft 23 can be interrupted when a torque exceeding a predetermined value is applied to the restricting member 41. It is also possible to omit the shim plate 433 while leaving the elastic member 432.
　また、保持部４３によって規制部材４１を挟み込む場合に、弾性部材４３２をいずれか一方のみに備える構成としてもよい。このように構成しても、保持部４３が保持力を調整可能に規制部材４１を保持することができる。 Further, when the restriction member 41 is sandwiched by the holding portion 43, the elastic member 432 may be provided in only one of them. Even if comprised in this way, the holding | maintenance part 43 can hold | maintain the regulating member 41 so that holding force can be adjusted.
　また、上記した実施形態では、ロボット１０が多関節ロボットである場合の関節部１２に回転規制機構４０を備える構成としているが、ロボット１０は、多関節ロボットに限定されない。たとえば、電動自動車などの車輪モジュールに回転規制機構４０を用いることも可能である。 In the above-described embodiment, the rotation restriction mechanism 40 is provided in the joint portion 12 when the robot 10 is an articulated robot. However, the robot 10 is not limited to the articulated robot. For example, the rotation restricting mechanism 40 can be used in a wheel module such as an electric automobile.
＜回転規制機構の変形例＞
　次に、図７～図９を参照して回転規制機構の変形例（回転規制機構５０）について説明する。図７は、変形例に係る回転規制機構５０を示す斜視図である。図８は、変形例に係る規制部材５１を示す斜視図である。図９は、変形例に係る規制部材５１を示す側面図である。なお、図９において規制部材５１は、矢線Ｒ２で示す方向に回転するものとする。 <Modification of rotation restriction mechanism>
Next, a modification of the rotation restricting mechanism (rotation restricting mechanism 50) will be described with reference to FIGS. FIG. 7 is a perspective view showing a rotation restricting mechanism 50 according to a modification. FIG. 8 is a perspective view showing a regulating member 51 according to a modification. FIG. 9 is a side view showing a regulating member 51 according to a modification. In FIG. 9, the restricting member 51 is assumed to rotate in the direction indicated by the arrow R2.
　なお、変形例に係る回転規制機構５０においては、規制部材５１の構成が上記した回転規制機構４０と異なる。このため、以下では、規制部材５１について説明し、その他の箇所については同一または同等の箇所に同一の符号を付し、説明を省略する場合がある。 In the rotation restriction mechanism 50 according to the modified example, the configuration of the restriction member 51 is different from that of the rotation restriction mechanism 40 described above. For this reason, below, the regulating member 51 will be described, and in other parts, the same or equivalent parts may be denoted by the same reference numerals, and description thereof may be omitted.
　図７に示すように、変形例に係る回転規制機構５０は、規制部材５１と、係合部４２と、保持部４３とを備える。規制部材５１は、後述する規制部５１２がＸ正方向を向くように配置される。 As shown in FIG. 7, the rotation restricting mechanism 50 according to the modification includes a restricting member 51, an engaging portion 42, and a holding portion 43. The restricting member 51 is disposed such that a restricting portion 512, which will be described later, faces the X positive direction.
　図８に示すように、規制部材５１は、円板状であり、貫通孔５１１と、規制部５１２とを備える。貫通孔５１１は、規制部材５１の中央部に形成される。また、貫通孔５１１は、回転軸２３（図２Ａ参照）が挿通可能な径に形成される。 As shown in FIG. 8, the restricting member 51 has a disk shape and includes a through hole 511 and a restricting portion 512. The through hole 511 is formed in the central portion of the regulating member 51. The through hole 511 is formed to have a diameter through which the rotary shaft 23 (see FIG. 2A) can be inserted.
　規制部５１２は、規制部材５１の外周部に設けられる。規制部５１２は、係合部４２の突部４２１（図３Ｂ参照）と係合する。規制部５１２は、２つの凸部５１３と、凹部５１４とを備える。２つの凸部５１３は、規制部材５１の外周部から規制部材４１の径方向と交わる方向に向けて突設される。２つの凸部５１３は、規制部材５１の周方向に所定間隔、すなわち、係合部４２の突部４２１が進入可能な間隔をあけて配置される。 The regulating part 512 is provided on the outer peripheral part of the regulating member 51. The restricting portion 512 is engaged with the protrusion 421 (see FIG. 3B) of the engaging portion 42. The restricting portion 512 includes two convex portions 513 and a concave portion 514. The two convex portions 513 project from the outer peripheral portion of the regulating member 51 in a direction intersecting with the radial direction of the regulating member 41. The two convex portions 513 are arranged at a predetermined interval in the circumferential direction of the restricting member 51, that is, at an interval at which the protruding portion 421 of the engaging portion 42 can enter.
　凹部５１４は、２つの凸部５１３の間に形成される。係合部４２の突部４２１が凹部５１４に入り込むことで、突部４２１と凸部５１３とが係合する。これにより、規制部材５１の周方向の回転を規制することができる。また、規制部５１２は、規制部材５１の周方向に等間隔で複数配置される。図示の例では、規制部５１２は、規制部材５１の外周部に４５度の間隔（位相差）をあけて８つ配置される。 The concave portion 514 is formed between the two convex portions 513. When the protrusion 421 of the engaging part 42 enters the recess 514, the protrusion 421 and the protrusion 513 are engaged. Thereby, rotation of the regulating member 51 in the circumferential direction can be regulated. In addition, a plurality of restricting portions 512 are arranged at equal intervals in the circumferential direction of the restricting member 51. In the illustrated example, eight restricting portions 512 are arranged on the outer peripheral portion of the restricting member 51 with an interval (phase difference) of 45 degrees.
　図９に示すように、規制部５１２は、規制部材５１の径方向の中心線に対して平行にオフセットされている。図９中の右方に配置された規制部５１２を例に説明すると、規制部５１２の２つの凸部５１３のうち、規制部材５１の回転方向Ｒ２において後行する一方の凸部５１３ａが中心線Ｌ１から接線方向にずれている。また、２つの凸部５１３のうち、回転方向Ｒ２において先行する他方の凸部５１３ｂは、一方の凸部５１３ａとは中心線Ｌ１を挟んで対称となるように接線方向にずれている。 As shown in FIG. 9, the restricting portion 512 is offset in parallel to the radial center line of the restricting member 51. When the restricting portion 512 arranged on the right side in FIG. 9 is described as an example, of the two protruding portions 513 of the restricting portion 512, one protruding portion 513a following in the rotation direction R2 of the restricting member 51 is the center line. It is displaced in the tangential direction from L1. In addition, of the two convex portions 513, the other convex portion 513b preceding in the rotation direction R2 is displaced in the tangential direction so as to be symmetrical with respect to the one convex portion 513a with the center line L1 interposed therebetween.
　このように、変形例に係る回転規制機構５０においても、規制部材５１の規制部５１２がオフセットされていることで、凹部５１４に入り込んでいる突部４２１（図３Ｂ参照）は、凸部５１３に対して面で当接する。 Thus, also in the rotation restricting mechanism 50 according to the modified example, the protruding portion 421 (see FIG. 3B) entering the recessed portion 514 is formed on the protruding portion 513 due to the offset of the restricting portion 512 of the restricting member 51. It abuts against the surface.
　変形例に係る回転規制機構５０によれば、規制部５１２の凹部５１４に係合部４２の突部４２１（図３Ｂ参照）が入り込むことで、回転軸２３の回転を停止させることができる。 According to the rotation restricting mechanism 50 according to the modified example, the protrusion 421 (see FIG. 3B) of the engaging portion 42 enters the recess 514 of the restricting portion 512, so that the rotation of the rotating shaft 23 can be stopped.
　この場合、規制部５１２の凸部５１３が規制部材５１の径方向の中心線Ｌ１から接線方向にずれているため、凹部５１４に入り込んだ係合部４２の突部４２１に対する当接面積を増大させることができ、制動力を向上させることができ、応力の集中を緩和して係合部にかかる負荷を低減することができる。これにより、規制部材５１および係合部４２の破損を抑えることができる。 In this case, since the convex portion 513 of the restricting portion 512 is displaced in the tangential direction from the radial center line L1 of the restricting member 51, the contact area of the engaging portion 42 entering the concave portion 514 with respect to the protrusion 421 is increased. Thus, the braking force can be improved, the stress concentration can be reduced, and the load applied to the engaging portion can be reduced. Thereby, breakage of the restricting member 51 and the engaging portion 42 can be suppressed.
　さらに、変形例に係る回転規制機構５０によれば、規制部５１２の凸部５１３が回転軸２３の軸方向における出力側（Ｘ正方向）に延出しているため、上記した実施形態に係る回転規制機構４０と比べて小径化、すなわち、Ｚ－Ｙ平面における小型化が可能となる。 Furthermore, according to the rotation restricting mechanism 50 according to the modified example, since the convex portion 513 of the restricting portion 512 extends to the output side (X positive direction) in the axial direction of the rotating shaft 23, the rotation according to the above-described embodiment. Compared with the regulating mechanism 40, the diameter can be reduced, that is, the size in the ZY plane can be reduced.
　また、係合部４２が規制部材５１の径方向から凹部５１４に入り込むため、たとえば、係合部４２が規制部材５１の径方向と直交する方向から入り込む場合に比べて全体の高さ（Ｘ方向）を抑えることができる。また、２つの凸部５１３（５１３ａ，５１３ｂ）で係合部４２の突部４２１を規制することで、規制部材４１の周方向における戻りを規制するとともに、規制部材４１が左右のいずれに回転する構成であっても対応可能となる。 Further, since the engaging portion 42 enters the concave portion 514 from the radial direction of the restricting member 51, for example, the overall height (X direction) compared to a case where the engaging portion 42 enters from a direction orthogonal to the radial direction of the restricting member 51. ) Can be suppressed. Further, by restricting the protrusion 421 of the engaging portion 42 with the two convex portions 513 (513a, 513b), the return of the restricting member 41 in the circumferential direction is restricted, and the restricting member 41 rotates to either the left or right. Even the configuration can be handled.
　また、規制部５１２が規制部材５１の周方向に複数配置されることで回転している規制部材５１に対して規制部５１２の凹部５１４に係合部４２の突部４２１が入り込むまでの間隔が短いため、係合部４２が動作を開始してから回転軸２３の回転を停止させるまでのタイムラグを抑えることができる。 In addition, an interval until the protrusion 421 of the engaging portion 42 enters the concave portion 514 of the restricting portion 512 with respect to the rotating restricting member 51 by arranging a plurality of restricting portions 512 in the circumferential direction of the restricting member 51. Since it is short, the time lag from when the engaging part 42 starts operation to when the rotation of the rotating shaft 23 is stopped can be suppressed.
　また、上記実施の形態により本発明が限定されるものではない。上述した各構成要素を適宜組み合わせて構成したものも本発明に含まれる。また、さらなる効果や変形例は、当業者によって容易に導き出すことができる。よって、本発明のより広範な態様は、上記の実施形態に限定されるものではなく、様々な変更が可能である。 Further, the present invention is not limited by the above embodiment. What was comprised combining each component mentioned above suitably is also contained in this invention. Further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspect of the present invention is not limited to the above-described embodiment, and various modifications can be made.
　１０　ロボット、１２　関節部、２０　回転アクチュエータ、２１　駆動源、２２　出力軸、２３　回転軸、４０，５０　回転規制機構、４１，５１　規制部材、４１２，５１２　規制部、４１３，５１３　凸部、４１４，５１４　凹部、４２　係合部、４３　保持部、４３２　弾性部材、Ｌ１，Ｌ２　中心線、Ｌｔ　接線 10 robots, 12 joints, 20 rotary actuators, 21 drive sources, 22 output shafts, 23 rotary shafts, 40, 50 rotation restriction mechanisms, 41, 51 restriction members, 412, 512 restriction parts, 413, 513 convex parts, 414 514 concave part, 42 engaging part, 43 holding part, 432 elastic member, L1, L2 center line, Lt tangent

Claims (9)

  1. 　駆動側の回転軸に取り付けられ該回転軸と一体に回転する規制部材と、
    　前記規制部材と係合することで前記回転軸の回転を停止させる係合部と、
    　前記回転軸および前記規制部材の間の保持力を調整可能に前記回転軸に対して前記規制部材を保持する保持部と
    　を備える、回転規制機構。     A regulating member that is attached to the drive-side rotating shaft and rotates integrally with the rotating shaft;
    An engaging portion for stopping rotation of the rotating shaft by engaging with the regulating member;
    A rotation restricting mechanism, comprising: a holding portion that holds the restricting member with respect to the rotating shaft such that a holding force between the rotating shaft and the restricting member can be adjusted.
  2. 　前記保持部は、弾性部材を備え、前記弾性部材の弾性力の調整により前記保持力が調整される、請求項１に記載の回転規制機構。 The rotation restricting mechanism according to claim 1, wherein the holding portion includes an elastic member, and the holding force is adjusted by adjusting an elastic force of the elastic member.
  3. 　前記弾性部材は、板バネである、請求項２に記載の回転規制機構。 The rotation restricting mechanism according to claim 2, wherein the elastic member is a leaf spring.
  4. 　前記保持部は、前記規制部材の径方向と交わる方向から前記弾性部材により前記規制部材を挟み込む、請求項２または３に記載の回転規制機構。 The rotation restricting mechanism according to claim 2 or 3, wherein the holding portion sandwiches the restricting member by the elastic member from a direction intersecting with a radial direction of the restricting member.
  5. 　前記規制部材は、円板状であり、外周部に前記係合部と係合する規制部を備え、
    　前記規制部は、前記外周部から前記規制部材の径方向の外側に向けて突設され前記規制部材の周方向に所定間隔をあけて配置された２つの凸部の間に形成される凹部を備え、
    　前記凸部は、前記規制部材の前記径方向の中心線に対して接線方向にずれている、請求項１～４のいずれか１つに記載の回転規制機構。     The restricting member has a disc shape, and includes a restricting portion that engages with the engaging portion on an outer peripheral portion,
    The restricting portion includes a recess formed between two projecting portions that protrude from the outer peripheral portion toward the radially outer side of the restricting member and are disposed at a predetermined interval in the circumferential direction of the restricting member. Prepared,
    The rotation restricting mechanism according to any one of claims 1 to 4, wherein the convex portion is displaced in a tangential direction with respect to the radial center line of the restricting member.
  6. 　前記規制部材は、円板状であり、外周部に前記係合部と係合する規制部を備え、
    　前記規制部は、前記外周部から前記規制部材の径方向と交わる方向に向けて突設され前記規制部材の周方向に所定間隔をあけて配置された２つの凸部の間に形成される凹部を備え、
    　前記凸部は、前記規制部材の前記径方向の中心線に対して接線方向にずれている、請求項１～４のいずれか１つに記載の回転規制機構。     The restricting member has a disc shape, and includes a restricting portion that engages with the engaging portion on an outer peripheral portion,
    The restricting portion protrudes from the outer peripheral portion in a direction intersecting with the radial direction of the restricting member, and is a recess formed between two convex portions arranged at a predetermined interval in the circumferential direction of the restricting member. With
    The rotation restricting mechanism according to any one of claims 1 to 4, wherein the convex portion is displaced in a tangential direction with respect to the radial center line of the restricting member.
  7. 　前記規制部は、前記規制部材の前記周方向に等間隔で複数配置される、請求項５または６に記載の回転規制機構。 The rotation restriction mechanism according to claim 5 or 6, wherein a plurality of the restriction portions are arranged at equal intervals in the circumferential direction of the restriction member.
  8. 　請求項１～７のいずれか１つに記載の回転規制機構と、
    　前記回転軸を出力軸とする駆動源と
    　を備える、回転アクチュエータ。     A rotation restricting mechanism according to any one of claims 1 to 7;
    A rotary actuator comprising: a drive source having the rotary shaft as an output shaft.
  9. 　請求項８に記載の回転アクチュエータと、
    　前記回転アクチュエータが搭載される関節部と
    　を備える、ロボット。     A rotary actuator according to claim 8;
    And a joint portion on which the rotary actuator is mounted.
PCT/JP2019/012331 2018-04-20 2019-03-25 Rotation regulating mechanism, rotary actuator, and robot WO2019202912A1 (en)

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