CN-122001142-A - Actuator and actuator unit

Abstract

The invention provides an actuator which can grasp the rotation state of an output shaft and is beneficial to miniaturization of a speed reducer and a motor. An actuator (10) is provided with a motor (18) having a motor shaft (16), and a speed reducer (20) capable of outputting rotation, which is slower than the rotation of the motor shaft (16), from an output shaft (44) to a driven member (12). The actuator further comprises a rotation body (22) on the opposite side of the motor shaft (16) and provided so as to be rotatable relative to the motor shaft (16), and a rotation detector for detecting the rotation of the rotation body (22) on the opposite side. The output shaft (44) and the opposite-load rotating body (22) can be connected to a driven member (12) disposed outside the actuator (10).

Inventors

• FUKASAWA TOSHIKI

Assignees

• 住友重机械工业株式会社

Dates

Publication Date

20260508

Application Date

20251030

Priority Date

20241106

Claims (11)

1. 1. An actuator is provided with: A motor having a motor shaft, and A speed reducer capable of outputting a rotation, which is slower than the rotation of the motor shaft, from an output shaft to a driven member; The actuator further includes: A load opposite side rotating body disposed on the load opposite side of the motor shaft and rotatable relative to the motor shaft, and A rotation detector for detecting rotation of the opposite-load-side rotating body; the output shaft and the opposite-load-side rotating body can be coupled to the driven member disposed outside the actuator, respectively.
2. 2. The actuator according to claim 1, further comprising: An outer case, a motor case having the motor, and And a load opposite side bearing rotatably supporting the load opposite side rotating body to the outer case.
3. 3. The actuator of claim 2, wherein, The rotation detector is accommodated inside the outer case.
4. 4. The actuator of claim 2, wherein, The rotation detector includes a detection unit provided on the opposite-load-side rotating body, and a detection unit provided on the outer case and configured to detect rotation of the opposite-load-side rotating body in cooperation with the detection unit.
5. 5. The actuator according to claim 2, wherein a positioning member is provided and coupled to the outer case via a coupling member, The outer race of the opposite-load bearing is axially positioned by the positioning member and the outer housing.
6. 6. The actuator of claim 2, wherein, The opposite-load-side rotating body comprises a1 st rotating member and a2 nd rotating member connected to the 1 st rotating member through a connecting member, The inner race of the opposite-load bearing is axially positioned by the 1 st rotary member and the 2 nd rotary member.
7. 7. The actuator of claim 2, wherein, The outer housing includes an opposite-load side housing disposed on an opposite-load side of the motor housing, The opposite-load bearing rotatably supports the opposite-load rotary body to the opposite-load housing.
8. 8. The actuator of claim 1, wherein, The counter-load rotating body includes a counter-load hollow portion that axially penetrates the counter-load rotating body.
9. 9. The actuator according to claim 8, wherein a load-side hollow portion is provided, and the speed reducer and the motor shaft are axially penetrated, The minimum inner diameter of the load opposite side hollow portion is larger than the minimum inner diameter of the load side hollow portion.
10. 10. An actuator unit is provided with: The actuator according to claim 1 to 9, and And driven members coupled to the output shaft and the rotation body on the opposite side of the load, respectively.
11. 11. The actuator unit of claim 10, wherein, The driven member includes a coupling portion coupled to the rotation body on the opposite side of the load, The opposite-load side rotating body is provided with an opposite-load side hollow portion penetrating the opposite-load side rotating body in the axial direction, The connecting portion has a through hole through which the wiring member inserted into the hollow portion on the opposite side to the load can pass.

Description

Actuator and actuator unit The present application claims priority based on japanese patent application No. 2024-194489 filed on 11/06 of 2024. The entire contents of this japanese application are incorporated by reference into the present specification. Technical Field The present invention relates to an actuator. Background Patent document 1 discloses an actuator including a motor having a motor shaft, and a speed reducer disposed on a load side of the motor. The speed reducer includes an output shaft capable of outputting a rotation reduced in speed from the rotation of the motor shaft to the driven member. In order to grasp the rotation state of the output shaft, the actuator of patent document 1 includes a detection shaft that penetrates the speed reducer and the motor and is rotatable integrally with the output shaft, and a rotation detector that detects the rotation of the detection shaft. Patent document 1 Japanese patent application laid-open No. 2022-142033 The present inventors have recognized that the technique disclosed in patent document 1 has room for improvement in terms of achieving a reduction in the size of a speed reducer and a motor while grasping the rotation state of an output shaft. Disclosure of Invention An object of the present invention is to provide an actuator which can grasp the rotation state of an output shaft and is advantageous in downsizing a speed reducer and a motor. The actuator of the present invention includes a motor having a motor shaft, and a speed reducer capable of outputting a rotation, which is reduced in speed from an output shaft to a driven member, than the rotation of the motor shaft. The actuator further includes a rotation-opposite-load-side rotating body disposed on the opposite-load side of the motor shaft and provided so as to be rotatable relative to the motor shaft, and a rotation detector for detecting rotation of the rotation-opposite-load-side rotating body, wherein the output shaft and the rotation-opposite-load-side rotating body are each connectable to the driven member disposed outside the actuator. Effects of the invention According to the present invention, the rotation state of the output shaft can be grasped, and the reduction gear and the motor can be miniaturized. Drawings Fig. 1 is a perspective view showing an actuator unit according to an embodiment. Fig. 2 is a side cross-sectional view showing an actuator unit of the embodiment. Fig. 3 is a partial enlarged view of fig. 1. In the figure, 10-actuator, 12-driven member, 12 a-coupling portion, 14-actuator unit, 16-motor shaft, 18-motor, 20-speed reducer, 22-opposite-load side rotating body, 26-rotation detector (2 nd rotation detector), 26 a-detected portion (2 nd detected portion), 26B-detected portion (2 nd detected portion), 28-outer case, 30-opposite-load side bearing, 30B-outer ring, 30 c-inner ring, 32-motor case, 44-output shaft, 62-opposite-load side hollow portion, 64-opposite-load side case, 70A-1 st rotating member, 70B-2 nd rotating member, 72-opposite-load side hollow portion, 80-positioning member. Detailed Description Hereinafter, embodiments of an actuator for implementing the present invention will be described. The same or equivalent elements are denoted by the same reference numerals, and duplicate descriptions are omitted. In the drawings, constituent elements are omitted, enlarged, and reduced as appropriate for convenience of description. The drawings should be viewed in the direction of the symbols. In the present specification, the expressions "1 st" and "2 nd" are used only as a description in terms of a form for distinguishing a plurality of elements, and are not intended to have any substantial meaning. For example, the "1 st" element may not be present, but the "2 nd" element may be present. Reference is made to fig. 1. The actuator 10 is assembled to the main machine. The actuator 10 can drive the driven element of the main machine by output rotation. Examples of the main machine include (1) a robot such as an industrial robot or a service robot, (2) an industrial machine such as a machine tool or a construction machine, (3) a transport facility such as a conveyor, and (4) various machines such as a vehicle. Here, an example will be described in which the main machine is a robot and the actuator 10 is assembled to the joint portion thereof. The actuator 10 is an integrated actuator in which a motor case 32 and a speed reducer case 42, which will be described later, are integrated. The actuator 10 is used in combination with a driven member 12 that becomes part of the host machine. The actuator 10 and the driven member 12 constitute an actuator unit 14. The driven member 12 is coupled to an output shaft 44 of the speed reducer 20, which will be described later, and can transmit the rotation output from the output shaft 44 to a driven element of the main machine. Reference is made to fig. 2. In this figure, the axis line passing through the shaft portion of