Battery holder and electric machine

Abstract

A battery holder (15) which holds a standby battery (14) of an encoder of an electric machine driven by a servo motor and is detachably fixed to an inner surface (4a) of an internal space (4) of the electric machine, the internal space (4) of the electric machine being sealed by a cover (11) capable of opening and closing an opening (8) of an outer wall (5) of the electric machine, the battery holder (15) being provided with: a battery housing part (16) in which the battery (14) is accommodated; a battery housing (12) that houses the battery (14) and is capable of detaching the battery (14) in a state in which the opening (8) is opened; and a partition wall (17) provided on the outside of the battery housing part (16), the partition wall (17) blocking an approach path through the opening part (8) to components (6, 7, 13) that can be brought into an operating state by energizing the servomotor.

Description

Technical Field

[0001] The present disclosure relates to a battery holder and an electric machine. Background Art

[0002] The electric device driven by the servo motor has a rotary encoder that detects and stores the rotation angle position information of the shaft of the servo motor. In order to prevent the position information from being lost when the power is not turned on, the electric device is equipped with a backup battery (for example, refer to Patent Document 1).

[0003] The battery is inserted into the inner space of the electric device from an opening provided on the outer wall of the electric device while being accommodated in the battery holder with a cover. The battery holder inserted into the opening is fixed to the outer wall of the opening provided with the electric device to close the opening.

[0004] When replacing the battery, if the battery is removed while the power supply of the electric device is cut off, the position information of the rotary encoder will disappear. Therefore, the battery replacement operation is usually performed while the electric device is powered on. At this time, the operator needs to avoid contact with energized parts. If the structure of the opening is closed by the battery holder, the battery can be replaced while avoiding contact with energized parts.

[0005] On the other hand, in order to facilitate assembly or maintenance of components in the internal space, an opening that can greatly open the internal space is sometimes provided on the outer wall of the electric device. Usually, a large opening and a small opening for a battery holder are provided separately, and are opened and closed by disassembling a larger cover.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Utility Model Application Laid-Open No. 5-67490 Summary of the invention

[0009] Problem that the invention aims to solve

[0010] When two openings are respectively provided on the outer wall of the electric device, it is necessary to form a receiving surface and a threaded hole for mounting the cover and the lid on the outer wall. In addition, a sealing structure for sealing the internal space is required at both openings, which makes the structure complicated.

[0011] Therefore, a simple structure is desired that can be easily assembled and maintained, and that can replace the battery while avoiding contact with parts that are put into operation by energization.

[0012] Solutions for solving problems

[0013] One aspect of the present disclosure is a battery holder that holds a backup battery for an encoder of an electric machine driven by a servo motor and is fixed to the inner surface of an internal space of the electric machine in a detachable manner. The internal space of the electric machine is sealed by a cover that can open and close an opening of an outer wall of the electric machine. The battery holder comprises: a battery accommodating portion that accommodates the battery and can remove the battery when the opening is open; and a partition wall that is arranged on the outside of the battery accommodating portion, the partition wall blocking an access path through the opening to a component that can be put into an operating state by energizing the servo motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 1 is a side view showing an electric machine according to one embodiment of the present disclosure.

[0015] Figure 2 It is shown that it is installed on Figure 1 A partial longitudinal cross-sectional view of a battery holder of an electric machine of the present disclosure according to one embodiment.

[0016] Figure 3 Yes, remove Figure 2 A partial side view of the state of the hood of the electric machine.

[0017] Figure 4 It is shown Figure 2 Side view of the battery holder.

[0018] Figure 5 It is shown Figure 4 A longitudinal cross-sectional view of a battery holder.

[0019] Figure 6 It is shown from Figure 3 A partial side view of the electric machine with the battery holder removed.

[0020] Figure 7 It is shown Figure 2 A partial longitudinal sectional view of a modified example of an electric machine. DETAILED DESCRIPTION

[0021] Hereinafter, a battery holder and an electric machine 1 according to an embodiment of the present disclosure will be described with reference to the drawings.

[0022] like Figure 1 As shown, the electric machine 1 of the present embodiment is a robot (hereinafter also referred to as the robot 1 ).

[0023] The robot 1 of this embodiment includes: a base 2 installed on a setting surface A such as the ground; and one or more movable parts 3 such as arms, which are movable relative to the base 2. Figure 2As shown, the base 2 and each movable part 3 are formed hollow and include an outer wall 5 defining an inner space 4 .

[0024] The robot 1 has one or more servo motors (not shown) for driving the movable parts 3. The servo motors are arranged in the internal space 4 of the base 2 or each movable part 3 or outside the outer wall 5. In addition, the internal space 4 of the base 2 and each movable part 3 accommodates mechanical parts such as a reducer 6 for reducing the rotation of the shaft of the servo motor. In addition, the internal space 4 accommodates a cable 7 for supplying power and signals to the servo motor.

[0025] The servomotor is used to rotate a shaft by power supply from a control device (not shown), and generates heat when electricity is supplied.

[0026] In addition, the mechanical parts such as the speed reducer 6 may be moved in the internal space 4 by the operation of the servomotor. In addition, the electric current flows through the cable 7 when the servomotor is driven.

[0027] That is, the states of the servo motor, the reducer 6 and other mechanical parts, and the cable 7 may change depending on whether power is supplied to the servo motor. Therefore, the servo motor, the reducer 6 and other mechanical parts, and the cable 7 are parts that can be put into an operating state by powering on. In addition, except for the reducer 6, all parts that can be operated in the internal space 4 by the servo motor become parts that can be put into an operating state by powering on.

[0028] like Figure 2 and Figure 3 As shown, the case where an opening 8 communicating the internal space 4 and the outside is formed in the outer wall 5 of the movable part 3 is described as an example. In order to tighten the bolts 9 fixing the reducer 6 to the internal space 4, the opening 8 is opened to the same size as the outer shape of the reducer 6.

[0029] like Figure 3 As shown, a receiving surface 10 is formed all around the periphery of the opening 8, and a plurality of screw holes 10a are formed along the circumferential direction of the receiving surface 10. The robot 1 includes a cover 11 that closes the opening 8 in an openable and closable manner.

[0030] The cover 11 can be detachably mounted on the outer wall 5 by bolts 12 fastened to the threaded holes 10a of the receiving surface 10. A sealing member (not shown) is arranged between the receiving surface 10 and the cover 11. By fixing the cover 11 to the receiving surface 10 of the outer wall 5 by bolts 12, the opening 8 can be sealed in a liquid-tight state.

[0031] The speed reducer 6 includes, for example, a hollow hole 6 a penetrating along the central axis near the axis C. The cable 7 penetrates through the hollow hole 6 a and is routed from the adjacent base 2 or other movable parts 3 into the internal space 4 of the movable part 3 .

[0032] A resin cylindrical body 13 is disposed in the hollow hole 6a, and the cable 7 is passed through the inside of the cylindrical body 13 to protect the cable 7 from contacting the reducer 6. The cylindrical body 13 is fixed to the movable part of the reducer 6, for example, and rotates relative to the movable part 3 by the operation of the servo motor. Therefore, the cylindrical body 13 also becomes a component that can be put into an operating state by powering on.

[0033] exist Figure 2 In the example of , since the reducer 6 is arranged outside the internal space 4, most of it is not a part that can be put into operation by energizing. The movable part of the reducer 6 exposed to the internal space 4 through the through hole 4b through which the cylindrical body 13 passes becomes a part that can be put into operation by energizing.

[0034] The cable 7 is fixed to a guide plate (not shown) by a nylon tape (not shown) or the like in the internal space 4 so as to form a desired wiring path.

[0035] The servo motor includes a rotary encoder (hereinafter referred to as encoder) that detects and stores the rotation angle position information of the shaft. When the control device is powered on, the encoder receives power supplied via the cable 7 and retains the rotation angle position information.

[0036] On the other hand, when the power of the control device is not turned on, the power supply to the encoder is stopped via the cable 7. In this case, the encoder receives power supply from the backup battery 14 to continue to hold the rotation angle position information.

[0037] like Figure 2 as well as Figure 3 As shown, the robot 1 of the present embodiment includes a battery holder 15 which is arranged in an internal space 4 of the movable part 3 in a stored state.

[0038] like Figure 4 as well as Figure 5 As shown, the battery holder 15 of the present embodiment includes a battery storage portion 16 and a partition wall 17 .

[0039] The battery housing portion 16 is formed in a box shape including a bottom surface 16 a and four side walls 16 b connecting the bottom surface 16 a , and one or more batteries 14 are housed inside the battery housing portion 16 .

[0040] The partition wall 17 includes a flat plate portion 17a extending from the outer surface of the side wall 16b of the battery storage portion 16 in a direction extending the bottom surface 16a of the battery storage portion 16. In addition, the partition wall 17 includes a peripheral wall portion 17b extending from the outer peripheral edge of the flat plate portion 17a in a direction intersecting the flat plate portion 17a.

[0041] The battery storage portion 16 and the partition wall 17 are integrally manufactured by injection molding an electrically insulating resin material, for example. The peripheral wall portion 17b includes a mounting portion 17c that is in close contact with a receiving surface 18 provided on the inner surface 4a of the internal space 4 of the movable portion 3. The mounting portion 17c includes a through hole 17d.

[0042] The receiving surface 18 is provided on the inner surface 4a of the internal space 4 at a position opposite to the opening 8, and has a plurality of threaded holes 18a. In order to fix the battery holder 15 to the movable part 3, the mounting portion 17c is brought into close contact with the receiving surface 18, and the bolts 19 passing through the through holes 17d are fastened to the threaded holes 18a.

[0043] When the battery holder 15 is fixed to the movable part 3, the bottom surface 16a of the battery receiving part 16 and the partition wall 17 cover the through hole 4b of the movable part 3 and the cable 7. Thus, the battery receiving part 16 and the partition wall 17 block the access path of the operator to the hollow hole 6a and the cable 7 through the opening 8. Here, blocking the access path means closing or reducing the space so that the hand of the operator inserted through the opening 8 cannot pass through.

[0044] Figure 6 The battery holder 15 is not fixed in the internal space 4. In this state, the bolts 9, the cylindrical body 13 and the cable 7 for assembling the reducer 6 are exposed to a position that the operator can freely access. Therefore, the operator can easily remove the bolts 9 for the reducer 6 or handle the cable 7 using the wide opening 8.

[0045] like Figure 2 As shown, when the battery holder 15 is fixed to the inner surface 4a, the battery receiving portion 16, the partition wall 17 and the inner surface 4a define an isolation space 20. The isolation space 20 is located on the opposite side of the opening 8 across the battery receiving portion 16 and the partition wall 17. In addition, the hollow hole 6a, the cylindrical body 13 and the cable 7 are arranged in the isolation space 20. Thus, the partition wall 17 of the battery holder 15 blocks the approach path of a person to these components through the opening 8.

[0046] Thus, according to the present embodiment, the battery holder 15 is fixed to the inner surface 4a of the internal space 4 of the robot 1 which is opened and closed by the cover 11. Thus, it is not necessary to provide an opening for the battery holder 15 on the outer wall 5, nor is a dedicated sealing structure required, and the structure can be simplified. Since only one cover 11 is required, the number of parts can be reduced, and the processing of the receiving surface 10 can also be reduced, which can reduce costs.

[0047] When the cover 11 is removed, the battery storage portion 16 is arranged closer to the front side than the isolation space 20 when viewed from the opening 8. By simply removing the cover 11 from the outer wall 5 of the movable portion 3, the battery 14 can be exposed while covering the components 6, 7, and 13 that can be activated by energization.

[0048] That is, by removing the cover 11 to open the opening 8 and expose the battery storage portion 16, it is easy to replace the battery 14. At this time, the battery holder 15 blocks the access path to prevent the operator from accidentally touching the components 6, 7, and 13 that can be turned into an operating state by powering on.

[0049] In addition, the isolation space 20 and the battery housing 16 are arranged at a position overlapping in the direction of the axis C of the movable part 3. As a result, the isolation space 20 is not narrowed by the battery housing 16, and a wide isolation space 20 for handling the cable 7 can be ensured. As a result, the area of ​​the inner surface 4a required for the installation of the battery holder 15 can be reduced, and the robot 1 can be miniaturized.

[0050] In addition, when assembling or maintaining the components 6 and 7 that can be operated by energizing, the power supply is turned off to stop the energization. Therefore, the battery holder 15 can be removed to form an access path, and the operation can be easily performed from the same opening 8.

[0051] In addition, in the present embodiment, as a component that can be put into an operating state by energizing, a reducer 6, a cable 7, and a cylindrical body 13 are exemplified. The reducer 6 includes a stationary portion that has no relative displacement with respect to the inner surface 4a of the movable portion 3 and a movable portion with respect to the stationary portion. The stationary portion may not be covered by the partition wall 17 of the battery holder 15. In addition, as a component that can be put into an operating state by energizing, a servo motor that generates heat by energizing or a gear that rotates by a servo motor may also be included.

[0052] In addition, in this embodiment, the robot 1 is described as an example of an electric machine, but the present invention is not limited to this. The present disclosure can be applied to any electric machine 1 driven by a servo motor equipped with an encoder.

[0053] In addition, in the present embodiment, the isolation space 20 and the battery receiving portion 16 are arranged to overlap in the direction of the axis C. Alternatively, the isolation space 20 and the battery receiving portion 16 may be arranged side by side in a direction orthogonal to the axis C. Thus, the dimension of the battery holder 15 along the axis C direction can be reduced, and the robot 1 can be miniaturized in the axis C direction.

[0054] In addition, in this embodiment, the partition wall 17 is described as having the peripheral wall portion 17b. Alternatively, the peripheral wall portion may be provided on the inner surface 4a side of the movable portion 3, and the partition wall 17 may have only the flat plate portion 17a.

[0055] In addition, the case where the partition wall 17 and the battery housing portion 16 are integrally formed has been described as an example. Alternatively, the partition wall 17 and the battery housing portion 16 may be separately formed and then fixed to each other by bonding or screws.

[0056] Furthermore, although the case where the battery holder 15 is disposed in the internal space 4 of the movable portion 3 is described as an example, the battery holder 15 may be disposed in the internal space of the base 2 .

[0057] In addition, if Figure 7 As shown, a cover 21 may be provided, which is detachably mounted on the battery housing 16. Preferably, the cover 21 can be detached by a simple mechanism such as snap fit. By closing the battery housing 16 with the cover 21, the battery 14 can be more reliably prevented from falling off during the operation of the robot 1.

[0058] Other arbitrary fall-off prevention means such as a fixing belt (not shown) may be provided instead of the cover 21. Preferably, the fixing belt can be attached and detached by a simple mechanism such as a hook.

[0059] Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the above-mentioned embodiments. These embodiments can be variously added, replaced, changed, partially deleted, etc. without departing from the scope of the disclosed subject matter, or without departing from the content recorded in the claims and the ideas and subject matter of the present disclosure derived from their equivalents. For example, in the above-mentioned embodiments, the order of each action and the order of each processing are shown as an example and are not limited to this. In addition, the same is true when numerical values ​​or formulas are used in the description of the above-mentioned embodiments.

[0060] Description of reference numerals:

[0061] 1Robot (electric machinery)

[0062] 4. Internal Space

[0063] 4a Inner surface

[0064] 5 outer wall

[0065] 6 Reducer (components, mechanical parts)

[0066] 7 Cable (components)

[0067] 8 Opening

[0068] 11 Hood

[0069] 13 Cylinder (component)

[0070] 14 Batteries

[0071] 15 Battery Holder

[0072] 16 Battery storage area

[0073] 17 Next door

[0074] 21 Cover

Claims

1. A battery holder, characterized in that: The battery holder holds a backup battery for an encoder of an electric machine driven by a servo motor and is detachably fixed to an inner surface of an inner space of the electric machine, wherein the inner space of the electric machine is sealed by a cover capable of opening and closing an opening of an outer wall of the electric machine. The battery holder comprises: a battery housing portion that houses the battery and enables the battery to be removed when the opening portion is opened; as well as A partition wall is arranged outside the battery receiving portion, The partition wall blocks an access path through the opening to a component that can be activated by energizing the servomotor.

2. The battery holder according to claim 1, characterized in that: The component that can be activated by energization is a cable that supplies power to the servomotor.

3. The battery holder according to claim 1, characterized in that: The component that can be put into an operating state by energization is a mechanical component driven by the servomotor.

4. The battery holder according to any one of claims 1 to 3, characterized in that: The space in which the components that can be activated by energization are arranged is arranged on the side opposite to the opening via the battery storage portion and the partition wall.

5. The battery holder according to any one of claims 1 to 3, characterized in that: The space in which the component capable of being activated by energization is arranged is arranged on the opposite side of the opening via the partition wall around the battery accommodation portion.

6. The battery holder according to any one of claims 1 to 5, characterized in that: The battery holder includes a cover for opening and closing the battery storage portion.

7. An electric machine, characterized in that: have: forming an outer wall of the interior space; a cover capable of opening and closing the opening provided in the outer wall; A component, at least a portion of which is disposed in the internal space and can be put into an operating state by supplying electricity; and A battery holder according to any one of claims 1 to 6.

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