Linear integrated actuators, units, and robots

Abstract

The integrated linear actuator (10) includes: a linear body (29) extending through the interior of the actuator; a first relay portion (25) connected to one end of the linear body; a second relay portion (26) connected to the other end of the linear body; and a first fixing portion (23) and a second fixing portion (24) fixing the linear body to the actuator between the first relay portion and the second relay portion. The length of the linear body between the first fixing portion and the second fixing portion is longer than the shortest distance between the first fixing portion and the second fixing portion.

Description

Technical Field

[0001] This invention relates to a linear integrated actuator, as well as a unit and robot including such a linear integrated actuator. Background Technology

[0002] Industrial robots, particularly articulated robots, include at least one joint consisting of two interconnected links. The joint is equipped with an actuator for driving the links, requiring at least power lines and signal lines for driving the actuator. Additionally, signal lines, air piping, high-speed communication signal lines, etc., are needed for driving an end effector located at the front end of the industrial robot. In this specification, these power lines, air piping, and various signal lines are collectively referred to as "lines".

[0003] Ideally, the linear body should be housed inside the robot's linkage. Patent Document 1 discloses a linear body extending through a hollow portion of the actuator. Furthermore, Patent Document 2 discloses a case where the linear body is arranged perpendicularly to each other on the axis of rotation and extends through the hollow portions of two adjacent joints.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2017-159397

[0007] Patent Document 2: Japanese Patent No. 5004020 Summary of the Invention

[0008] The problem the invention aims to solve

[0009] However, maintenance requires users to consider the positional relationship between the line and its surrounding objects while determining the line's fixed position, which is quite cumbersome. If the line is fixed in a non-slack state and the actuator rotates, causing the line to twist, a tensile stress along its length towards the center of the actuator will act on the line. This could potentially lead to the line breaking.

[0010] Therefore, it is desirable to have integrated linear actuators, as well as units and robots that include such integrated linear actuators, in a way that eliminates concerns about linear breakage, ensures high reliability and long lifespan of the linear actuators, and allows for easy assembly, replacement, and maintenance.

[0011] Solution for solving the problem

[0012] According to the first technical solution of this disclosure, a linear integrated actuator is provided, wherein the linear integrated actuator includes: a linear body extending through the interior of the actuator; at least one first relay portion located at one end of the actuator and connected to one end of the linear body; at least one second relay portion located at the other end of the actuator and connected to the other end of the linear body; a first fixing portion fixing the linear body to the actuator between the first relay portion and the second relay portion; and a second fixing portion fixing the linear body to the actuator, wherein the length of the linear body between the first fixing portion and the second fixing portion is longer than the shortest distance between the first fixing portion and the second fixing portion.

[0013] The effects of the invention

[0014] In the first technical solution, the linear body is fixed by a first fixing part and a second fixing part with a specified slack. Therefore, the same fixing state can always be reproduced at a specified angle of the output shaft, thus ensuring high reliability and long service life of the linear body. Furthermore, the user only needs to connect the first and second relay parts to other connectors, so the user does not need to worry about excessive stress on the linear body due to rotational motion causing breakage, nor about wiring, and can easily assemble, replace, and maintain the linear body. Moreover, the linear body that does not experience torsion caused by shaft rotation in the relay part between integrated linear actuators can be designated as a non-movable linear body.

[0015] The objects, features, and advantages of the present invention will become more apparent from the following description of embodiments in conjunction with the accompanying drawings. Attached Figure Description

[0016] Figure 1A This is a partial enlarged view of a robot equipped with the line-body integrated actuator disclosed herein.

[0017] Figure 1B This is a partial enlarged view of another robot equipped with the integrated linear actuator disclosed herein.

[0018] Figure 1C This is a partial enlarged view of a robot equipped with the integrated linear actuator of the first embodiment.

[0019] Figure 1D This is a partial enlarged view of another robot equipped with the integrated linear actuator of the first embodiment.

[0020] Figure 2 This is a cross-sectional view of the linear integrated actuator of the first embodiment.

[0021] Figure 3AThis is a cross-sectional view of the linear integrated actuator of the second embodiment.

[0022] Figure 3B This is a cross-sectional view of an actuator from a previous technology.

[0023] Figure 4A This is the first diagram showing the relationship between the axial section of the hollow part and the radial section at one end of the hollow part.

[0024] Figure 4B The second diagram shows the relationship between the axial section of the hollow part and the radial section at one end of the hollow part.

[0025] Figure 5A This is a cross-sectional view of the linear integrated actuator of the third embodiment.

[0026] Figure 5B This is a cross-sectional view of another linear integrated actuator according to the third embodiment.

[0027] Figure 5C This is a cross-sectional view of another linear integral actuator according to the third embodiment.

[0028] Figure 5D It is a 3D diagram of an AGV equipped with a robot.

[0029] Figure 6A This is a cross-sectional view of the integrated linear actuator of the fourth embodiment.

[0030] Figure 6B This is a cross-sectional view of another linear integrated actuator according to the fourth embodiment.

[0031] Figure 6C This is a cross-sectional view of another linear integral actuator according to the fourth embodiment.

[0032] Figure 7A This is a cross-sectional view of the line-body integrated actuator of the fifth embodiment.

[0033] Figure 7B This is a cross-sectional view of another linear integrated actuator according to the fifth embodiment.

[0034] Figure 8A This is the first enlarged view of the relay section.

[0035] Figure 8B This is the second enlarged view of the relay section.

[0036] Figure 8C This is the third enlarged view of the relay section.

[0037] Figure 9A This is a cross-sectional view of a unit including another embodiment of a linear integrated actuator.

[0038] Figure 9B This is another cross-sectional view of a unit including a linear integrated actuator according to another embodiment. Detailed Implementation

[0039] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In all the drawings, corresponding structural elements are labeled with generally common reference numerals.

[0040] Figure 1A This is a partially enlarged view of a robot equipped with the integrated linear actuator disclosed herein. Figure 1A A joint axis of robot 1 (described later) is shown. The joint axis is driven by a linear integrated actuator 10.

[0041] like Figure 1A As shown, a first link 11 is mounted on one side of the linear integrated actuator 10, and a second link 12 is mounted on the other side. These first links 11 and second links 12 correspond to any two adjacent arm segments of the robot 1.

[0042] Furthermore, as shown in the enlarged view of a robot equipped with the integrated linear actuator of this disclosure. Figure 1B As shown, the first link 11 and the second link 12 can also be mounted on opposite sides. Furthermore, the shapes of the first link 11 and the second link 12 can be different from each other, and the first link 11 and the second link 12 are not limited to the shapes shown in the figure. In either case, if the integrated linear actuator 10 is driven, the second link 12 rotates relative to the first link 11. For simplicity, illustrations of the first link 11 and the second link 12 are omitted in the figures described later.

[0043] Figure 2 This is a cross-sectional view of the linear integrated actuator of the first embodiment. The actuator body 20 of the linear integrated actuator 10 includes a solid drive motor 28, a hollow reducer 32, and a motor adapter 30.

[0044] exist Figure 1C , Figure 1D Showing will Figure 2 Linear integrated actuator and Figure 1A , Figure 1B Similarly, in the example of the robot assembly, the motor adapter 30 of the integrated linear actuator 10 operates integrally with the first link 11, and the output shaft of the integrated linear actuator 10 rotates integrally with the second link 12. Additionally, the outer casing of the hollow reducer 32 can also be directly mounted to the first link 11.

[0045] Alternatively, the configuration could be as follows: the motor adapter 30 of the linear integrated actuator 10 operates as a unit with the second link 12, and the output shaft of the linear integrated actuator 10 rotates as a unit with the first link 11.

[0046] The actuator body 20 can also be constructed solely of a direct-drive electric motor. Additionally, in Figure 2 In this configuration, a solid drive motor 28, which drives the actuator body 20 as a reducer, is mounted on the motor adapter 30. Furthermore, when using a direct drive motor, the links 11 and 12 can be driven directly without using the hollow reducer 32, thus improving the positioning accuracy of the robot 1.

[0047] like Figure 2 As shown, a line 29 extending along the output axis of the hollow reducer 32 penetrates the interior of the actuator body 20. Preferably, the line 29 penetrates the hollow portion within the actuator body 20. Alternatively, the line 29, with a liquid-proof or oil-proof construction, may pass through the lubrication passage of the actuator body 20. The line 29 includes at least one of the power line and signal line for the actuator body 20, and the power line, signal line, and air piping for controlling a tool (not shown) located at the front end of the robot 1. Furthermore, the line body 29 may also include conduits for supplying the following: sensor data output from the servo driver 27 (described later), sensor data input to the servo driver 27, signals or air that relay data between the preceding and following axes adjacent to the axis of the line body integrated actuator 10 (hereinafter referred to as "the axis"), such as signals for driving a robotic hand (not shown) on the robot's wrist, position information data of the preceding and following axes adjacent to the axis input to the servo driver 27, torque sensor data from axes other than the axis, and alarm information generated by axes other than the axis. Additionally, fiber optic communication cables may be used as signal lines. Fiber optic communication cables include quartz glass-based fiber optic cables, plastic fiber optic cables made of acrylic resin, etc.

[0048] In addition, Figure 2 In this configuration, a solid drive motor 28 is mounted on a portion of the motor adapter 30. In other words, the solid drive motor 28 is positioned offset from the rotation axis of the movable component. Consider embodiments where the reducer is hollow but the drive motor is not, or embodiments where both the reducer and drive motor are hollow, as described later. In the case where the actuator body 20 is composed solely of a direct drive motor, it is desirable that the direct drive motor itself be hollow.

[0049] As shown in the figure, one end of the line body 29 is connected to the first relay section 25 located on the motor adapter 30 side. Furthermore, the line body 29 is fixed to the motor adapter 30 by the first fixing part 23 between the first relay section 25 and the actuator body 20. Similarly, the other end of the line body 29 is connected to the second relay section 26 located on the hollow reducer 32 side. Furthermore, the line body 29 is fixed to the output shaft of the hollow reducer 32 by the second fixing part 24 between the second relay section 26 and the actuator body 20. Alternatively, multiple first relay sections 25 and multiple second relay sections 26 may be provided.

[0050] The wire body 29 can be an assembly of multiple wires. In this case, it is desirable that the first fixing part 23 and the second fixing part 24 fix the multiple wires respectively at predetermined positions. This is because, compared to fixing the entire bundle of a large wire body, fixing a smaller bundle of wires can securely fix a smaller bundle of each wire body. Therefore, even if tensile stress acts on the length direction of the wire body due to torsional movement, movement of the wire body can be prevented. Of course, in the fixing part, as a structure to prevent movement of each wire body due to torsional movement, the entire bundle of wires can also be fixed. Thus, if the integrated wire body actuator 10 rotates from a predetermined position at a predetermined angle, the torsional state of each wire in the wire body 29 is always the same. In other words, when the integrated wire body actuator 10 rotates from a predetermined position at a predetermined angle and then rotates in the opposite direction to the original predetermined position, a situation will not occur where some wires return to the predetermined position while others do not. By employing such a first fixing part 23 and a second fixing part 24, a long lifespan for the line body 29 can be achieved.

[0051] according to Figure 2 It is understood that, preferably, the first fixing part 23 and the second fixing part 24 are located away from the center of the actuator body 20. Furthermore, in this embodiment, the first fixing part 23 and the second fixing part 24 are approximately L-shaped components, but other shapes are also possible.

[0052] The first relay section 25 and the second relay section 26 of the actuator body 20 are, for example, connectors, connected to other relay sections. Furthermore, according to... Figure 2 It can be seen that when the linear integrated actuator 10 is connected to the first link 11 and the second link 12, the first relay part 25 and the second relay part 26 can be accommodated inside the first link 11 and the second link 12 respectively, or they can be assembled on the outer periphery of the motor adapter 30 and the hollow reducer 32 respectively.

[0053] Thus, in this invention, the line body 29 is fixed to the fixing part 21 by the first fixing part 23 and the second fixing part 24 respectively (in Figure 2 The motor adapter 30 is shown in the middle. Other figures show the hollow brake 37 and the movable part 22. Figure 2 The output portion 22 of the hollow reducer 32 is shown in the middle. (In other figures, a torque sensor 39 is shown). This movable portion 22 is capable of rotating relative to the fixed portion 21 and should be fitted with the second connecting rod 12. Furthermore, the line body 29 is sufficiently relaxed between the first fixed portion 23 and the second fixed portion 24. That is, the length of the line body 29 between the first fixed portion 23 and the second fixed portion 24 is longer than the shortest distance between the first fixed portion 23 and the second fixed portion 24.

[0054] Therefore, in this invention, the line body 29 undergoes torsional movement only between the first fixing part 23 and the second fixing part 24, thereby absorbing axial rotation. Thus, this invention provides a highly reliable integrated line body actuator 10 that only applies torsional movement to the line body 29 and not bending movement. Furthermore, the user only needs to connect the first relay part 25 and the second relay part 26 to other connectors; therefore, the user does not need to worry about wire breakage caused by stress from torsional movement or about the slack of the line body, and can easily assemble, replace, and maintain it. Of course, although not shown, it can also be constructed such that the first fixing part 23 and the second fixing part 24 are provided at locations where the line body extends from the hollow portion 40 to the space outside the hollow portion 40 in a direction intersecting with the axis of rotation, applying both torsion and bending to the line body.

[0055] Figure 3A This is a cross-sectional view of the linear integrated actuator of the second embodiment. Figure 3A The integrated linear actuator 10 shown includes a hollow motor 31 and a hollow reducer 32 coaxially connected to the hollow motor 31. A hollow brake 37 is provided in the hollow motor 31. Furthermore, a torque sensor 39 for detecting the force acting on the output shaft of the integrated linear actuator 10 is provided between the hollow reducer 32 and the second connecting rod 12. As shown, preferably, the hollow portion 41 of the hollow motor 31 and the hollow portion 42 of the hollow reducer 32 have a common inner diameter. Therefore, there is no step between the hollow portion 41 of the hollow motor 31 and the hollow portion 42 of the hollow reducer 32, preventing damage to the linear body 29. Hereinafter, the hollow portion 41 of the hollow motor 31 and the hollow portion 42 of the hollow reducer 32 will be collectively referred to as the hollow portion 40.

[0056] like Figure 3AAs shown, preferably, the line body 29 is configured to pass through at least partially at both ends of the hollow portion 40 on the central axis of the actuator 10 or the hollow portion 40, or on another straight line parallel to the central axis. Since the line body 29 tends to break more easily the closer its torsion is to the central axis of rotation, its lifespan can be further extended by fixing the line body 29 away from the central axis.

[0057] Alternatively, the line body 29 can be positioned at both ends of the actuator 10 or the hollow portion 40 on the central axis of the hollow portion 40. In this case, a larger allowance for relaxation of the line body 29 within the hollow portion 40 can be ensured.

[0058] Figure 3B This is a cross-sectional view of an actuator from a previous technology. Figure 3B In this configuration, a solid drive motor 28' is mounted at one corner of the actuator body 20'. When a larger drive motor 28' is installed, or when a smaller actuator body 20' is used, a portion of the drive motor 28' partially blocks the hollow portion at one end of the actuator body 20'. In such cases, to avoid partial contact between the line body 29' and the drive motor 28', the line body 29' needs to be bent. As a result, the line body 29' experiences both torsion and bending, which can easily reduce its lifespan.

[0059] However, in Figure 3A In this design, a hollow motor 31 is included within the integrated linear actuator 10, thus eliminating the need to mount the drive motor 28' at one end of the integrated linear actuator 10. In other words, there is no situation where the drive motor 28' partially blocks the hollow portion 40 of the integrated linear actuator 10, thereby avoiding the aforementioned problems.

[0060] Figure 4A and Figure 4B This is a diagram showing the relationship between a partial axial section of the hollow portion and one end of the hollow portion. In each... Figures 4A-4B In the image, a partial axial section of the hollow portion 40 is shown on the right, and one end of the hollow portion 40 is shown on the left.

[0061] Line element 29 is an aggregation of multiple line elements, but for ease of explanation, a single line element 29 is shown. The case where line element 29 is a single element is also included within the scope of this invention. Furthermore, Figures 4A-4B The content can also be applied to other implementation methods.

[0062] exist Figure 4AIn this configuration, the integrated actuator 10 does not rotate in its initial position, resulting in no twisting of the line body 29. The first fixing part 23 and the second fixing part 24 are respectively positioned near the ends of the hollow portion 40; therefore, the distance L between the first fixing part 23 and the second fixing part 24 is approximately equal to the axial length of the hollow portion 40. Figure 4A In this case, the length of the line body 29 between the first fixing part 23 and the second fixing part 24 is longer than the shortest distance L between the first fixing part 23 and the second fixing part 24. In other words, in Figure 4A In the middle, the line body 29 is relaxed between the two ends of the hollow part 40 and hangs down.

[0063] exist Figure 4B In this process, the integrated actuator 10 rotates clockwise to a maximum angle, for example, 180°. As a result, the line body 29 twists in a spiral manner, resulting in the formation of multiple "twisted portions" in the line body 29.

[0064] Figure 4B Points 29a to 29d on the line body 29 shown represent the center of gravity of the "twist section". According to... Figure 4B It can be seen that the curve A connecting these centers of gravity is located locally below the central axis O of the hollow portion 40. Furthermore, the length of the curve A is longer than the distance L between the first fixing part 23 and the second fixing part 24.

[0065] In other words, in this disclosure, it is preferable that even when the integral actuator 10 is rotated to its maximum angle, the curve A is longer than the distance L between the first fixed part 23 and the second fixed part 24, and has a surplus length that allows it to relax naturally under the action of gravity, thus becoming a state in which no tensile stress in the length direction of the linear body is applied.

[0066] Thus, the wire body 29 is fixed by the first fixing part 23 and the second fixing part 24 with a predetermined slack. Furthermore, the predetermined slack is set such that even when the integrated wire body actuator 10 is rotated to its maximum angle, the curve A of the center of gravity of the "torsion section" connecting the wire body 29 is longer than the distance L. Therefore, even when the integrated wire body actuator 10 is rotated to its maximum angle, the tension applied to the wire body 29 is only minimal, and the wire body 29 is less prone to breakage. Therefore, high reliability and long service life of the wire body 29 can be ensured. Moreover, wire bodies that do not operate on the relay section between integrated wire body actuators that experience torsion due to shaft rotation, such as relay wire bodies housed in connecting rods, can be made non-movable wire bodies. Furthermore, as... Figure 4AAs shown, when the line body 29 is positioned at both ends of the hollow portion 40 above the central axis of the hollow portion 40, a larger allowance for slack in the line body 29 can be ensured. Furthermore, it is clear that the same effect can be achieved when rotating counterclockwise.

[0067] In addition, in recent years, robots 1 equipped with integrated linear actuators 10 have sometimes been mounted on AGVs (Automatic Guided Vehicles) (see below). Figure 5D In this case, it is desirable to use the AGV's battery to drive the actuator 10. Therefore, it is required to install distributed servo drives for each axis on the actuator 10.

[0068] Figure 5A This is a cross-sectional view of the integrated linear actuator of the third embodiment. Figure 5A In this device, a servo driver 27 for controlling the hollow motor 31 is mounted at one end of the actuator 10. The servo driver 27 may include a converter that converts DC power to AC power and / or a microcomputer that controls the motion of the hollow motor 31, so as to perform servo control of the hollow motor 31.

[0069] Figure 5B This is a cross-sectional view of another linear integrated actuator according to the third embodiment. Figure 5B The servo drive 27 shown is mounted on the end face of the hollow reducer 32 on the side opposite to the second link 12. In this case, it is possible to avoid the actuator 10 becoming longer in the axial direction as a whole.

[0070] Figure 5C This is a cross-sectional view of another linear integral actuator according to the third embodiment. Figure 5C The servo drive 27 shown is mounted on the inner surface of the first link 11 or the robot arm. Alternatively, the servo drive 27 may be mounted on other components configured within the robot arm.

[0071] like Figure 5C As shown, an additional wiring element for supplying power to drive the hollow motor 31 and an additional wiring element for transmitting and receiving signals are connected between the servo driver 27 and the hollow motor 31. The connector can be located at both the servo driver 27 and the hollow motor 31, or it can be located at only one and the other can be used as a lead. Furthermore, the additional wiring element does not need to be a movable wiring element, nor does it need to pass through the hollow hole of the integrated actuator.

[0072] Thus, preferably, the servo driver 27 is mounted on or near the actuator 10. Alternatively, the servo driver 27 may be integrated with the actuator 10. Similarly, in Figure 2In the first embodiment shown, the same servo driver 27 that drives the drive motor 28 may also be mounted on or near the actuator 10.

[0073] For example, movement commands can be communicated to the servo drive 27 via a daisy-chain communication method such as industrial Ethernet (registered trademark) or fieldbus. Furthermore, if the servo drive 27 is a converter, a DC chain voltage is connected. Thus, daisy-chain connections between the controller and the servo drive 27, and between servo drives 27 and other servo drives, can be made, reducing wiring by using the connecting wires.

[0074] exist Figure 2 In the diagram, only the servo driver 27 is shown in dashed lines, omitting the lines that should be connected to the servo driver 27. Furthermore, in the first embodiment, the servo driver 27 may be integrated with the actuator 10 itself. To prevent the servo driver 27 from overheating, it is preferable to have a structure in which the area around the servo driver 27 is not in close contact with the surface of the actuator 10.

[0075] Figure 5D This is a 3D diagram of an AGV equipped with a robot. Figure 5D The robot 1 shown, for example a vertical multi-jointed robot, has multiple integrated linear actuators 10 inside. Figures 5A-5C As shown, when the servo drive 27 is mounted on or near the actuator 10, the actuator 10 can be driven by controlling the servo drive 27 using the DC battery of the AGV2 equipped with the robot 1. In other words, it is not necessary to connect the servo drive 27 to an external power source, thus enabling the AGV2 to move smoothly and over a wide range.

[0076] When the line body 29 is not twisted, its slack is at its maximum. If such a line body 29 comes into contact with the inner circumferential surface of the hollow portion 40, there is a possibility that the line body 29 will break when the actuator 10 is activated. Figure 6A This is a cross-sectional view of the integrated line-body actuator according to the fourth embodiment. To prevent damage to the line body 29, in... Figure 6A In the middle, a protective tube 49 that penetrates the interior of the actuator 10 and protects the line body 29 in a manner that surrounds the line body 29 is inserted into the hollow part 40 of the actuator 10.

[0077] For example, a cross-sectional view of another linear, integrated actuator. Figure 6BAs shown, the protective tube 49 can also be fixed to a component on the output side, such as a torque sensor 39 mounted on the hollow reducer 32, by means of a flange 48. When the actuator 10 includes a hollow reducer 32 and a hollow motor 31, it is preferable that the protective tube 49 is fixed to the side of the hollow reducer 32, which rotates at a lower speed. This is because the inner wall of the hollow shaft of the hollow motor 31 rotates at a high speed, thus preventing the line body from contacting this inner wall. The protective tube 49 is fixed to the output shaft side of the hollow reducer 32, thereby protecting the inner wall of the tube from rotating at the same low speed as the output shaft, thus reducing the stress acting on the line body 29. The same applies when the actuator 10 includes an actuator body 20 and a motor adapter 30; preferably, the protective tube 49 is fixed to the stationary motor adapter 30, but it can also be fixed to the output shaft side of the reducer 32.

[0078] Alternatively, as shown in the cross-sectional view of another linear integral actuator. Figure 6C As shown, the protective tube 49 can also be fixed to a component on the input side by means of a flange 48, such as the outer casing of a hollow brake 37 mounted on a hollow motor 31.

[0079] Figure 7A This is a cross-sectional view of the integrated linear actuator according to the fifth embodiment. Figure 7B This is a cross-sectional view of another linear integrated actuator according to the fifth embodiment.

[0080] Preferably, Figure 7A The first fixing part 23 and the second fixing part 24 shown are approximately L-shaped components, each having mounting members 23a and 24a to be mounted on the end face of the integrated linear actuator 10, and fixing members 23b and 24b perpendicular to the mounting members 23a and 24a and fixing the linear body 29. This is because by fixing the linear body at a location parallel to the axis of rotation, only torsion is applied to the linear body. Furthermore, the fixing members 23b and 24b of the first fixing part 23 and the second fixing part 24 extend toward the interior of the integrated linear actuator 10. In this case, the fixing members 23b and 24b of the first fixing part 23 and the second fixing part 24 are prevented from being exposed to the outside of the integrated linear actuator 10, making the integrated linear actuator 10 relatively small.

[0081] The first fixing part 23 and the second fixing part 24 are not limited to such a shape. For example, in Figure 3A In the first fixing part 23 and the second fixing part 24, the fixing members 23b and 24b of each extend in a direction away from the integral actuator 10 of the linear body, and fix the linear body 29 outside the integral actuator 10 of the linear body.

[0082] also, Figure 7BThe first fixing part 23 and the second fixing part 24 shown are generally U-shaped components, including mounting members 23a and 24a that should be mounted on the end face of the integrated linear actuator 10, first fixing members 23c and 24c that are perpendicular to the mounting members 23a and 24a and fix the linear body 29, and second fixing members 23d and 24d that are perpendicular to the first fixing members 23c and 24c and fix the linear body 29. According to Figure 7B It can be seen that the mounting components 23a and 24a and the second fixing components 23d and 24d are parallel to each other. Furthermore, Figure 7B The first fixing part 23 and the second fixing part 24 shown fix the line body 29 to the outside of the line body integrated actuator 10.

[0083] Therefore, in addition to only causing torsion in the line body, it is also possible to suppress the protrusion of the intermediate part of the line body. Furthermore, the extension direction of the line body 29 can be changed to a direction perpendicular to the axis direction of the integrated line body actuator 10 by using the first fixing members 23c, 24c and the second fixing members 23d, 24d.

[0084] In addition, Figure 7B Alternatively, the line body 29 can be fixed using only the second fixing members 23d and 24d. Or, the shapes of the first fixing part 23 and the second fixing part 24 can be different; for example, the first fixing part 23 can be approximately L-shaped. Figure 7A The second fixing part 24 is roughly U-shaped. Figure 7B Furthermore, the fixing positions of the line body 29 may differ between the first fixing part 23 and the second fixing part 24. Also, when the robot has multiple integrated line body actuators 10, the shapes of the first fixing part 23 and the second fixing part 24 may differ between the actuator 10 on the base side of the robot and the actuator 10 on the front side of the robot.

[0085] Moreover, in Figure 6B and Figure 6C In the middle, the first fixing part 23 and the second fixing part 24, which are roughly L-shaped, have stepped parts 23e and 24e, respectively. These stepped parts 23e and 24e can further ensure the relaxation of the line body 29 and ensure the space for the flange 48 of the protective tube 49 to be arranged.

[0086] also, Figures 8A to 8C This is an enlarged view of the relay section. Figures 8A to 8C The relay unit shown is relay unit 25, but relay unit 26 is the same. Figure 8AThe diagram shows a relay portion 25 acting as a connector, which connects to other connectors. Since the relay portion 25 is relatively heavy, it is preferable to mount it to other components, such as a mounting member 25a on the robot arm or the robot arm itself. This prevents the relay portion 25 from being thrown off by the robot's movements. The mounting member 25a can also be a type of outer shell component constituting the linear integrated actuator 10.

[0087] exist Figure 8B In this configuration, the exposed wire of the line body 29 serves as a relay section 25. Furthermore, the relay section 25, acting as the wire, is connected to the terminal block 25b via a threaded fixing method or a clamping method. Additionally, the terminal block 25b can also be mounted on other components, such as a robot arm. Moreover, in... Figure 8C The image shows a relay section 25, which serves as a rod terminal and connects to other rod terminals. Figure 8B and Figure 8C As can be seen, this makes the relay unit 25 lighter, so it is not easily thrown off by the robot's movements.

[0088] Figure 9A This is a cross-sectional view of a unit including another embodiment of a linear integrated actuator. Figure 9B This is another cross-sectional view of a unit including a linear integrated actuator according to another embodiment. Figure 9A In this configuration, two integrated linear actuators 10A and 10B, identical to the aforementioned integrated linear actuator 10, are disposed within the housing 9. The rotation axes of the integrated linear actuators 10A and 10B extend in mutually orthogonal directions. Furthermore, the first relay section 25 of the integrated linear actuator 10A and the first relay section 25 of the integrated linear actuator 10B are respectively connected to the relay section of the additional linear body 29a. Alternatively, the extension directions of the rotation axes of the integrated linear actuators 10A and 10B may form a unit 2 with a predetermined angle including 180°.

[0089] Furthermore, a first connecting rod 11 is installed on the actuator body 20 side of the integrated linear actuator 10A, and a second connecting rod 12 is installed on the actuator body 20 side of the integrated linear actuator 10B. Figure 9B In the middle, the second link 12 is located on the ground surface. It goes without saying that... Figure 9A and Figure 9B In the case shown, the same high reliability and long lifespan of the line body are ensured as in the cases described above, and it is easy to assemble, replace, and maintain. Furthermore, in Figure 9A and Figure 9BIn this context, the unit 2 (two-axis actuator) is integrated with the housing 9, comprising the motor side of each of the actuators 10A and 10B. However, the unit 2 (two-axis actuator) may also be integrated with the housing 9, comprising the movable component 22 (rotation axis) or torque sensor 39 side of at least one of the actuators 10A and 10B. Furthermore, robots 1 including at least one of the aforementioned linear integrated actuators 10, 10A, and 10B, and robots including the unit 2, are also included within the scope of this disclosure.

[0090] The technical solution disclosed herein

[0091] According to the first technical solution, a linear integrated actuator (10) is provided, wherein the linear integrated actuator includes: a linear body (29) extending through the interior of the actuator; at least one first relay part (25) located at one end of the actuator and connected to one end of the linear body; at least one second relay part (26) located at the other end of the actuator and connected to the other end of the linear body; a first fixing part (23) fixing the linear body to the actuator between the first relay part and the second relay part; and a second fixing part (24) fixing the linear body to the actuator between the first relay part and the second relay part, wherein the length of the linear body between the first fixing part and the second fixing part is longer than the shortest distance between the first fixing part and the second fixing part.

[0092] According to the second technical solution, in the first technical solution, when the output shaft of the actuator is rotated clockwise or counterclockwise to the maximum rotation angle, the length of the line body between the first fixed part and the second fixed part is longer than the shortest distance between the first fixed part and the second fixed part.

[0093] According to the third technical solution, in the first or second technical solution, the line body is configured to pass through at least partially on the central axis of the actuator or on a straight line parallel to the central axis.

[0094] According to the fourth technical solution, in any one of the first to third technical solutions, the linear integrated actuator includes a motor (28) mounted at a corner of one end of the actuator.

[0095] According to the fifth technical solution, in the fourth technical solution, the servo driver (27) controlling the electric motor is configured in or near the actuator.

[0096] According to the sixth technical solution, in any one of the first to third technical solutions, the actuator includes a hollow electric motor (31) and a hollow reducer (32) coaxially connected to the hollow electric motor.

[0097] According to the seventh technical solution, in the sixth technical solution, the servo driver (27) controlling the hollow motor is configured in or near the actuator.

[0098] According to the eighth technical solution, in the sixth technical solution, the actuator further includes a hollow brake (37) coaxially configured with the hollow motor.

[0099] According to the ninth technical solution, in any one of the first to eighth technical solutions, the linear integrated actuator includes a force detection unit (39) that detects the force acting on the output shaft of the actuator.

[0100] According to the 10th technical solution, in any of the 1st to 9th technical solutions, the actuator has a protective tube (49) that extends through the interior of the actuator and surrounds the linear body, and the protective tube is supported only at one end or the other end of the actuator.

[0101] According to the 11th technical solution, a unit is provided, wherein the unit comprises: a first linear integrated actuator of any one of the 1st to 10th technical solutions; and a second linear integrated actuator of any one of the 1st to 10th technical solutions, wherein the extension direction of the rotation axis of the first linear integrated actuator and the extension direction of the rotation axis of the second linear integrated actuator form a predetermined angle.

[0102] According to the 12th technical solution, a robot is provided, wherein the robot includes an actuator of at least one of the 1st to 10th technical solutions.

[0103] According to the 13th technical solution, a robot is provided, wherein the robot includes the unit of the 11th technical solution.

[0104] The embodiments of the present invention have been described above. However, those skilled in the art should understand that various modifications and alterations can be made without departing from the scope of the claims. Furthermore, embodiments formed by appropriately combining the above-described embodiments are also included within the scope of this disclosure.

[0105] Explanation of reference numerals in the attached figures

[0106] 1. Robot; 2. Unit; 9. Shell; 10. 10A, 10B. Integrated linear actuator; 11. First link; 12. Second link; 20. Actuator body; 21. Fixed part; 22. Movable part; 23. First fixed part; 23a, 24a. Mounting component; 24. Second fixed part; 23b, 24b. Fixing component; 23c, 24c. First fixing component; 23d, 24d. Second fixing component; 2 3e, 24e, Stepped section; 25, First relay section; 26, Second relay section; 27, Servo driver; 28, Solid drive motor; 29, 29a, Linear body; 29a~29d, Dot; 30, Motor adapter; 31, Hollow motor; 32, Hollow reducer; 37, Hollow brake; 39, Torque sensor (force detection section); 40, Hollow part; 41, 42, Hollow part; 48, Flange; 49, Protective tube.

Claims

1. A linear integrated actuator, wherein, This linear integrated actuator includes: A hollow portion, which contains the central axis of the actuator and extends through the actuator; Linear shapes that extend through the hollow portion; At least one first relay unit is located at one end of the actuator and connected to one end of the linear body; At least one second relay unit is located on the other end side of the actuator and connected to the other end of the line body; A first fixing part, which fixes the line body to the actuator between the first relay part and the second relay part; and A second fixing part, which fixes the line body to the actuator between the first relay part and the second relay part. The line body is configured to pass through at least partially the central axis of the actuator. The length of the line body between the first fixing part and the second fixing part is longer than the shortest distance between the first fixing part and the second fixing part.

2. The linear integrated actuator according to claim 1, wherein, When the output shaft of the actuator is rotated clockwise or counterclockwise to its maximum rotation angle, the length of the line body between the first fixed part and the second fixed part is longer than the shortest distance between the first fixed part and the second fixed part.

3. The linear integrated actuator according to claim 1 or 2, wherein, The line body is configured to pass through at least partially on the central axis of the actuator or on a straight line parallel to the central axis.

4. The linear integrated actuator according to claim 1 or 2, wherein, The linear integrated actuator has a motor mounted at one corner of the actuator.

5. The linear integrated actuator according to claim 4, wherein, A servo drive that controls the electric motor is configured in or near the actuator.

6. The linear integrated actuator according to claim 1 or 2, wherein, The actuator includes a hollow electric motor and a hollow reducer coaxially connected to the hollow electric motor.

7. The linear integrated actuator according to claim 6, wherein, A servo driver that controls the hollow electric motor is configured in or near the actuator.

8. The linear integrated actuator according to claim 6, wherein, The actuator also includes a hollow brake that is coaxially configured with the hollow electric motor.

9. The linear integrated actuator according to claim 1 or 2, wherein, The linear integrated actuator includes a force detection unit that detects the force acting on the output shaft of the actuator.

10. The linear integrated actuator according to claim 1 or 2, wherein, The actuator has a protective tube that extends through the interior of the actuator and surrounds the linear body, and the protective tube is supported only at one end or the other end of the actuator.

11. A unit, wherein, This unit includes a first integrated linear actuator and a second integrated linear actuator. The first integrated linear actuator and the second integrated linear actuator are... The linear integrated actuator according to any one of claims 1 to 10, The extension direction of the rotation axis of the first linear integrated actuator and the extension direction of the rotation axis of the second linear integrated actuator form a predetermined angle.

12. A robot, wherein, The robot includes at least one actuator as described in any one of claims 1 to 10.

13. A robot, wherein, The robot includes the unit as described in claim 11.

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