Nidec Corporation

Nidec-Shimpo Corporation

Yuu Ayuzawa

Haruhiro Tsuneta

Hideyuki Odagiri

Hirokazu Watanabe

Shunya Yazawa

Takeshi Okuda

Takurou Yonemura

Toshiharu Wakabayashi

There is provided a rotary actuator which makes it possible to operate a regulation release of a regulating member from the outside of a case body when the regulating member is in a regulation position, and can prevent an unexpected regulation release, and a robot. A drive mechanism of a joint part has a compression coil spring for biasing a regulation pin toward a regulation position, and a solenoid for moving the regulation pintoward a regulation release position. A through hole is formed in a case body at a portion facing the upper end portion (the other end portion opposite to one end portion abutting against the regulation pin) of a plunger of the solenoid, and the upper end portion of the plunger is positioned on the inside of the case body while the regulation pin is in the regulation position.

Rotary actuator and robot

Provided is a robot. For example, a joint part of this robot is provided with: a motor; a reduction gear coupled to the motor; an output-side member fixed to the output shaft of the reduction gear; a position detection mechanism for detecting the rotational position of the motor; a circuit board to which the motor and the position detection mechanism are electrically connected; and a case in which the motor, the reduction gear, the position detection mechanism, and the circuit board are housed. The motor and the reduction gear are fixed to the case. A motor driving circuit for driving the motor, a signal transmission circuit for outputting a signal inputted to the circuit board to outside the circuit board, and a connector to which an end of a wiring is connected are mounted to the circuit board.

Robot

Provided is a robot equipped with two joint parts attached to an end of an arm in a coupled state. For example, in a joint part of a robot, a motor and a reduction gear are housed in a case, and an output-side member having a flange is fixed to the output shaft of the reduction gear. An opening that opens in the direction orthogonal to the axial direction of the output shaft of the reduction gear is formed in the case. A planar attachment face orthogonal to the opening direction of the opening is formed in the opening. The robot is provided with a plurality of biaxial joint units comprising two joint parts. In the robot, the attachment face of the case of one joint part constituting a biaxial joint unit is fixed to the flange of the other joint part either directly or via a coupling member.

Provided, for example, is a rotary actuator that is equipped with a rotation restricting mechanism for restricting the rotation of a stopped rotor. The rotation restricting mechanism is provided with: a rotation-side restricting member fixed to the rotor; a fixed-side restricting member that engages with the rotation-side restricting member and restricts the movement of the rotation-side restricting member in the circumferential direction of the rotor; and a drive mechanism that moves the fixed-side restricting member in the axial direction of the rotor. A plurality of protrusions that project toward the outer side of the radial direction of the rotor are formed in the rotation-side restricting member. A restricting partthat penetrates in between the protrusions in the circumferential direction and restricts the movement of the rotation-side restricting member in the circumferential direction is formed in the fixed-side restricting member.

A motor system includes a motor, and a multi-turn absolute encoder that detects a rotation number and an absolute angular position of a rotation shaft of the motor. The multi-turn absolute encoder includes: an absolute angular position detection device that detects the absolute angular position within one rotation period of the rotation shaft; and a storage element that stores the rotation number of the motor. Even if the driving of the multi-turn absolute encoder is stopped while the motor is stopped, the multi-turn absolute encoder detects the multi-turn position of the rotation shaft after startup. Further, the motor has a brake mechanism including: a gear-type brake wheel that rotates integrally with the rotation shaft; an engagement member capable of engaging with the teeth of the gear-type brake wheel; and an actuator which causes the teeth and the engagement member to engage with each other during braking.

Growing community of inventors

Nagano, Japan

Yuu Ayuzawa