Actuator and robot

Abstract

The actuator includes: a fixed member and a movable member; a hollow hole penetrating the actuator; a line body that passes through the inside of the hollow hole; a first fixing part provided with a first gripping part for gripping a part of the linear body; and a second fixing part which is provided with a second holding part for holding the other part of the linear body. The first holding part and the second holding part are located inside the hollow hole.

Description

Technical Field

[0001] The present disclosure relates to an actuator and a robot. Background Art

[0002] An industrial robot, particularly an articulated robot, includes at least one joint portion formed by connecting two link members. An actuator for driving the link member is provided in the joint portion, and at least a power line and a signal line for driving the actuator are required. In addition, a signal line, an air pipe, a signal line for high-speed communication, etc. for driving an end effector provided at the front end of the industrial robot are required. In the present specification, these power lines, air pipes, and various signal lines are collectively referred to as "line bodies".

[0003] In Japanese Unexamined Patent Application Publication No. 2017-159397, the actuator has a fixed member and a movable member that rotate relative to each other. Moreover, the line body penetrates the inside of the actuator, and the line body is fixed to the fixed member and the movable member by a first fixing portion and a second fixing portion, respectively.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2017-159397 Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] However, in the prior art, the first fixing portion and the second fixing portion protrude to the outside of the actuator. Therefore, there is a problem that the robot arm and the robot including the actuator are enlarged.

[0009] Therefore, an actuator capable of miniaturizing the robot and the robot arm is desired.

[0010] Means for Solving the Problems

[0011] According to a first aspect of the present disclosure, there is provided an actuator including: a fixed member; a movable member that rotates relative to the fixed member; a hollow hole that penetrates the actuator; a line body that passes through the inside of the hollow hole; a first fixing portion that includes a first holding portion that holds a part of the line body; and a second fixing portion that includes a second holding portion that holds the other part of the line body, the first holding portion and the second holding portion being located inside the hollow hole, a distance between the first holding portion and the second holding portion being shorter than a length of the hollow hole, and a length of the line body that is held by the first holding portion and the second holding portion and is between the first holding portion and the second holding portion being longer than the length of the hollow hole.

[0012] The objects, features, and advantages of the present disclosure will become more apparent from the following description of embodiments in association with the accompanying drawings. Description of the Drawings

[0013] Figure 1 It is a perspective view of a robot including an actuator according to the first embodiment.

[0014] Figure 2 It is an axial cross-sectional view of an actuator according to the first embodiment.

[0015] Figure 3A It is a view showing the first fixing portion and the second fixing portion.

[0016] Figure 3B It is Figure 3A An exploded view of the first fixing portion and the second fixing portion shown.

[0017] Figure 4 It is a partial perspective view of a pipe component.

[0018] Figure 5A It is showing Figure 2 The first diagram of the manufacturing method of the actuator shown.

[0019] Figure 5B It is showing Figure 2 The second diagram of the manufacturing method of the actuator shown.

[0020] Figure 6A It is another view showing the first fixing portion and the second fixing portion.

[0021] Figure 6B It is Figure 6A An exploded view of the first fixing portion and the second fixing portion shown.

[0022] Figure 7A It is an end view of an actuator in a modified example.

[0023] Figure 7B It is Figure 7A A perspective view of the actuator shown.

[0024] Figure 8A It is an axial cross-sectional view of an actuator according to the second embodiment.

[0025] Figure 8B It is an axial cross-sectional view of an actuator according to the third embodiment.

[0026] Figure 9 It is an axial cross-sectional view of an actuator in the prior art. Detailed Description of the Embodiments

[0027] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In all the drawings, corresponding components are denoted by the same reference numerals.

[0028] Figure 1 is a perspective view of a robot including an actuator according to the first embodiment. The robot 1, for example, a vertical multi-joint robot, includes actuators 5a to 5f at respective joint portions. The actuators 5a to 5f may also be incorporated into a machine different from the robot 1, such as a machine tool. Hereinafter, the actuator 5 will be described, but Figure 1 the actuators 5a to 5f shown also have the same structure.

[0029] Figure 2 is an axial direction cross-sectional view of the actuator according to the first embodiment. The actuator 5 mainly includes a fixed member 21 and a movable member 22 that rotates relative to the fixed member 21. Specifically, the fixed member 21 includes a motor 10 and a speed reducer 20 connected to the motor shaft 13 of the motor 10. The motor 10 is composed of a stator and a rotor, and is, for example, a servo motor. The movable member 22 includes the output shaft 23 of the speed reducer 20 and a force sensor S coupled to the output shaft 23. As will be described later, the movable member 22 may also have a structure that includes only the output shaft 23 of the speed reducer 20.

[0030] In the present application, it is defined that the speed reducer 20 is disposed on the front side with respect to the motor 10, and the motor 10 is disposed on the rear side with respect to the speed reducer 20. In addition, in principle, the "radial direction" in the present application refers to the radial direction of the actuator 5 or the like, and the "axial direction" refers to the axial direction of the actuator 5 or the like.

[0031] The motor shaft 13 of the motor 10 is connected to the speed reducer 20. The front end of the output shaft 23 of the speed reducer 20 is connected to a link 2 (not shown) via the force sensor S. Therefore, the actuator 5 relatively rotates the link 2 (not shown) within a predetermined operation range with respect to the actuator 5 to perform positioning control. In addition, the reduction ratio of the speed reducer 20 is, for example, 1:50.

[0032] The motor shaft 13 is, for example, a hollow shaft. Moreover, an extension portion 23a, for example, a pipe member, is coupled to the output shaft 23 of the speed reducer 20, and the extension portion 23a extends toward the motor 10 side through the hollow motor shaft 13. In addition, the output shaft 23 of the speed reducer 20 and the extension portion 23a may be integrally formed. In other words, the extension portion 23a may be a part of the output shaft 23. Therefore, hereinafter, the "extension portion 23a" may sometimes be referred to as the "output portion 23".

[0033] The force sensor S is composed of a torque sensor or the like that detects the force acting around the axis of the actuator 5. As will be described later Figure 7AAs shown, the force sensor S generally has a sensor component S1, a sensor component S2, and a strain detection section S3 connecting them. When a force acts on the axis of the actuator 5, the rigid strain detection section S3 elastically deforms slightly in the extending direction. Therefore, the force acting on the axis can be detected by the amount of deformation of the strain detection section S3. The force sensor S can also be a sensor of a strain gauge type, a capacitance type, a magnetic type, an optical encoder type, or the like.

[0034] As shown in the figure, the force sensor S, the speed reducer 20, and the motor 10 that are coaxially connected to each other have a common hollow hole 29. The hollow holes 29 of these force sensor S, speed reducer 20, and motor 10 preferably have a common inner diameter. Thereby, it is possible to smoothly arrange the extension part 23a, for example, a pipe component. In other words, a hollow hole 29 extending through the entire actuator 5 in the axial direction is formed on the actuator 5. The hollow hole 29 is formed by the inner peripheral surface of the motor 10, the inner peripheral surface of the speed reducer 20, and the inner peripheral surface of the force sensor S. Therefore, the extension part 23a and the motor shaft 13 located outside the extension part 23a are included in the hollow hole 29. As shown in the figure, the extension part 23a extends across substantially the entire length of the actuator 5. Preferably, the extension part 23a is shorter than the entire length of the actuator 5. Moreover, at least one line body L such as a signal line and a current supply line passes through the inside of the extension part 23a.

[0035] As Figure 2 shown, a part of the line body L is fixed to the fixed component 21 side by the first fixing part 31. In addition, another part of the line body L is fixed to the movable component 22 side by the second fixing part 32.

[0036] In Figure 2 this case, the first fixing part 31 is fixed to the rear end face of the motor 10, and the second fixing part 32 is fixed to a part that does not affect the detection of the sensor S on the front end face near the inner peripheral side of the sensor S. However, when the actuator 5 is the actuator 5d mounted on the robot 1, it is also possible that the first fixing part 31 is fixed to the arm component 62 on the arm fixing (rotated) side, and the second fixing part 32 is fixed to another arm component 61 on the arm rotating side adjacent to the arm component 62. Hereinafter, the first fixing part 31 is fixed to the rear end face of the fixed component 21, the fixed component 21 is combined with the arm component 61, the second fixing part 32 is fixed to the front end face of the movable component 22, and the movable component 22 is combined with the arm component 61. In addition, regarding the mounting direction of the actuator, it is also possible that the force sensor S is combined with the arm component 62 on the fixed (non-rotating) side of the arm, and the fixed component 21 is combined with the arm component 61 on the arm rotating side.

[0037] Figure 3A is a diagram showing the first fixing part and the second fixing part, Figure 3B is Figure 3AExploded view of the first fixing part and the second fixing part shown. As shown in these drawings, the first fixing part 31 includes a plate part 41a to be fixed to the fixing member 21, a bracket 42a extending perpendicularly to the plate part 41a, and a first gripping part 43a mounted on the bracket 42a. Similarly, the second fixing part 32 includes a plate part 41b to be fixed to the movable member 22, a bracket 42b extending perpendicularly to the plate part 41b, and a second gripping part 43b mounted on the bracket 42b.

[0038] Between the fixing member 21 and the plate part 41a and between the movable member 22 and the plate part 41b, they can be fixed by fixing members such as bolts. As long as they can be installed and disassembled, any fixing member can be used. Similarly, between the plate part 41a and the bracket 42a, and between the plate part 41b and the bracket 42b, they can be fixed by fixing members such as bolts, or can also be fixed by an adhesive. The first gripping part 43a and the second gripping part 43b function to locally grip the wire body L. The first gripping part 43a and the second gripping part 43b can be, for example, a pressing and clamping member or a resin tape. In addition, the first gripping part 43a and the second gripping part 43b can also have a structure that wraps and grips the wire body L with a protective member such as a rubber sheet.

[0039] Refer again to Figure 2 It can be seen that the plate part 41a of the first fixing part 31 is disposed outside the fixing member 21, and the plate part 41b of the second fixing part 32 is disposed outside the movable member 22. Moreover, the bracket 42a mounted on the plate part 41a enters the inside of the hollow hole 29 from one end of the actuator 5, and the bracket 42b mounted on the plate part 41b enters the inside of the hollow hole 29 from the other end of the actuator 5. Therefore, on the line segment parallel to the central axis of the actuator 5, the length A1 between the first gripping part 43a and the second gripping part 43b is shorter than the actual length A2 in the axial direction of the hollow hole 29.

[0040] In addition, the length A1 between the first gripping part 43a and the second gripping part 43b refers to the length measured in a state where the phase of the first gripping part 43a around the rotation axis is the same as the phase of the second gripping part 43b and in a state where the first gripping part 43a and the second gripping part 43b are fixed relative to the hollow hole 29 without relative movement.

[0041] Here, Figure 4 is a partial perspective view of the pipe member. In Figure 4 , at one end of the extension part 23a, a cutout 23b extending in the circumferential direction is formed. Moreover, in Figure 4 , the area C including the cutout 23b is shown. Thus, the case where the cutout 23b is formed in the extension part 23a is also included within the scope of the present disclosure.

[0042] The length from one end of the extension part 23a to the first holding part 43a is preferably less than half of the axial direction length A2 of the extension part 23a. Similarly, the length from the other end of the extension part 23a to the second holding part 43b is preferably less than half of the axial direction length A2 of the extension part 23a.

[0043] More specifically, the length from one end of the extension part 23a to the first holding part 43a and the length from the other end of the extension part 23a to the second holding part 43b are preferably one-fourth or less of the axial direction length A2. The reason is to suppress the increase in the weight of the brackets 42a and 42b having the holding parts 43a and 43b. In addition, as described later, it is also for smoothly performing the fixing operations of the first fixing part 31 and the second fixing part 32.

[0044] In addition, from Figure 2 it can be seen that between the first holding part 43a and the second holding part 43b, the wire body L has a prescribed slack. Specifically, the length of a part of the wire body L held by the first holding part 43a and the second holding part 43b and between the first holding part 43a and the second holding part 43b is longer than the actual axial direction length A2 of the hollow hole 29.

[0045] In the present disclosure, both the first holding part 43a of the first fixing part 31 and the second holding part 43b of the second fixing part 32 are located inside the hollow hole 29. In other words, only the plate parts 41a and 41b of the first fixing part 31 and the second fixing part 32 are exposed to the outside of the actuator 5. Moreover, since the plate parts 41a and 41b are, for example, metal plates having a prescribed thickness, their exposed parts are only extremely small.

[0046] In this way, in the present disclosure, the first holding part 43a and the second holding part 43b are located inside the hollow hole 29, and the exposed parts of the plate parts 41a and 41b are extremely small. Therefore, it is possible to avoid the enlargement of the actuator 5. And it is also possible to prevent the enlargement of the robot 1 having the actuators 5a to 5f.

[0047] In addition, between the first holding part 43a and the second holding part 43b, the wire body L has a prescribed slack. Therefore, when the actuator 5 is installed in the joint part of the robot 1, even if the fixed part 21 rotates relative to the movable part 22, the torsion of the wire body L can be absorbed by the slack. That is, it is possible to prevent excessive stress from being applied to the wire body L to break the wire body L, and it is possible to prevent the wire body L from being kinked.

[0048] In addition, when the two fixing portions 31 and 32 of the wire body L are completely exposed to the outside and the wire body L is fixed to the first fixing portion 31 and the second fixing portion 32, if both the first gripping portion 43a on the first fixing portion 31 and the second gripping portion 43b on the second fixing portion 32 enter the hollow hole of the extension portion 23a, the slack of the wire body L becomes excessive. In such a case, since the wire body L is strongly pressed against the inner surface of the hollow hole, a relatively large stress acts on the wire body L, and as a result, the life of the wire body L may be shortened instead.

[0049] Figure 9 is an axial sectional view of an actuator in the prior art. In Figure 9 the first gripping portion 43a of the first fixing portion 31 protrudes from one end of the hollow hole 29 by an amount B1, and the second gripping portion 43b of the second fixing portion 32 protrudes from the other end of the hollow hole 29 by an amount B2. Therefore, the actuator 5' has a disadvantage of being enlarged axially corresponding to the protrusion amounts B1 and B2. As a result, the housing (not shown) of a robot having a plurality of actuators 5' is further enlarged according to the length of the actuator 5'.

[0050] In addition, Figure 5A and Figure 5B are diagrams showing Figure 2 the manufacturing method of the actuator shown. In the initial stage, as Figure 3A shown, the first fixing portion 31 and the second fixing portion 32 are assembled, and in addition, neither the first fixing portion 31 nor the second fixing portion 32 is fixed to the actuator 5.

[0051] As Figure 5A shown, the wire body L is passed through the hollow hole 29, and a part of the wire body L is "temporarily fixed" to the first gripping portion 43a of the first fixing portion 31. Then, the wire body L is stretched in the arrow direction of Figure 5A to make the wire body L in a fully extended state. As a result, the plate portion 41a of the first fixing portion 31 abuts against the rear end surface of the fixing member 21. In this state, the second gripping portion 43b of the second fixing portion 32 formally grips the other part of the wire body L. According to Figure 5A it can be seen that the gripping operation of the second gripping portion 43b on the wire body L is performed outside the actuator 5.

[0052] Next, as Figure 5BAs shown by the arrow, the wire body L is stretched in the opposite direction to bring the wire body L into a fully extended state. As a result, the plate portion 41b of the second fixing portion 32 abuts against the front end surface of the movable member 22, and the plate portion 41a of the first fixing portion 31 separates from the fixed member 21. Further, in this state, the plate portion 41b of the second fixing portion 32 is fixed to the end surface of the movable member 22 as described above. And the first gripping portion 43a of the first fixing portion 31 officially grips the aforementioned part of the wire body L. The gripping operation of the wire body L by the first gripping portion 43a is performed outside the actuator 5.

[0053] After that, the plate portion 41a of the first fixing portion 31 is fixed to the end surface of the fixed member 21. Thus, as described above, the wire body L has a predetermined slack between the first gripping portion 43a and the second gripping portion 43b, and the length of this slack is longer than the axial direction length A2 of the hollow hole 29. As described above, the fixing operations of fixing the plate portions 41a and 41b to the fixed member 21 and the movable member 22 respectively and the gripping operations of gripping the wire body L by the first gripping portion 43a and the second gripping portion 43b are performed outside the actuator 5. Therefore, it can be understood that the fixing operations of the first fixing portion 31 and the second fixing portion 32 can be performed smoothly and easily.

[0054] In addition, the manufacturing order is not limited to the above. When fixing to the first fixing portion 31 and the second fixing portion 32, it may be fully fixed instead of temporarily fixed. In this case, it is necessary to mark the fixing positions on the wire body L in advance as the accurate distance between the jigs. It may also be configured as follows. The plate portion 41a and the plate portion 41b are pre-installed on the actuator 5. After the wire body L is fixed only by the bracket 42a and the bracket 42b respectively, the bracket 42a and the bracket 42b are respectively fixed to the plate portion 41a and the plate portion 41b, so as to have the optimal slack. Regarding the fixing order, the fixing operation may also start from any one of the two fixing portions 31 and 32.

[0055] In addition, Figure 6A is another view showing the first fixing portion and the second fixing portion, Figure 6B is Figure 6A an exploded view of the first fixing portion and the second fixing portion shown. The first fixing portion 31 shown in these drawings has at least one annular spacer N (four annular spacers N in Figure 6A ) between the plate portion 41a and the bracket 42a. And as shown in the figure, the bolt 50 combines the plate portion 41a, at least one annular spacer N, and the bracket 42a with each other. Alternatively, instead of using the bolt 50, the plate portion 41a, at least one annular spacer N, and the bracket 42a may be combined by other means such as an adhesive.

[0056] Moreover, the second fixing portion 32 has a single spacer W1 with a specified size between the plate portion 41b and the bracket 42b. The plate portion 41b, the spacer W1, and the bracket 42b can be bonded together with an adhesive, but they can also be joined with bolts (not shown).

[0057] Due to the presence of at least one annular spacer N and the spacer W1, the holding positions of the wire body L held by the first holding portion 43a and the second holding portion 43b move toward the center position in the axial direction of the hollow hole 29. In other words, the two holding positions of the wire body L shift farther from one end of the hollow hole 29 toward the other end. As a result, due to the presence of at least one annular spacer N and the spacer W1, the slack of the wire body L increases.

[0058] In addition, Figure 6B On the left side of is shown that the spacer W1 is replaced with another spacer W2 larger than the spacer W1, and the spacer W2 is disposed between the plate portion 41b and the bracket 42b. As a result, the second holding portion 43b of the second fixing portion 32 shifts farther from the end of the hollow hole 29, and as a result, the slack of the wire body L further increases.

[0059] Moreover, Figure 6B On the right side of is shown that, on the basis of excluding two of the four annular spacers N, the remaining two annular spacers N are disposed between the plate portion 41a and the bracket 42a. By reducing the number of annular spacers N, the first holding portion 43a of the first fixing portion 31 approaches the end of the hollow hole 29, and as a result, the slack of the wire body L decreases.

[0060] In this way, by using at least one annular spacer N and / or spacers W1, W2, the slack of the wire body L can be changed. That is, at least one annular spacer N, the bolt 50, and the spacers W1, W2 function as an adjustment mechanism for adjusting the slack of the wire body L. By adopting such an adjustment mechanism, even after the first fixing portion 31 and the second fixing portion 32 are fixed to the actuator 5, the slack of the wire body L inside the hollow hole 29 can be easily adjusted. In addition, it is within the scope of the present disclosure to use an annular component such as a washer instead of the annular spacer N.

[0061] In addition, Figure 7A is an end view of the actuator in the modified example, Figure 7B is Figure 7A the perspective view of the actuator shown in. As Figure 7AAs shown, the sensor S includes two sensor components S1 and S2 arranged in concentric circles. Further, the sensor S includes a plurality of strain detection portions S3 that connect the sensor components S1 and S2 and extend in the radial direction of the actuator 5-1. Further, a plurality of openings 52 surrounded by the sensor components S1 and S2 and the strain detection portions S3 are formed in the sensor S. As described above, the sensor S detects the force acting around the axis of the actuator 5-1 by the elastic deformation of the strain detection portions S3.

[0062] Figure 2 The movable member 22 of the actuator 5 shown in etc. includes the sensor S. Therefore, the plate portion 41b of the second fixing portion 32 can be directly mounted on the end face of the sensor S. However, when at least a part of the second fixing portion 32 is in partial contact with the sensor S or the wire body L is directly fixed to the sensor S, it has a negative impact on the sensitivity of the sensor S, and there is a case where the sensor S outputs an undesirable detection result.

[0063] In Figure 7A and Figure 7B In the modified example shown, a plurality of rod-shaped members 44 extend from the plate portion 41b of the second fixing portion 32. The plurality of rod-shaped members 44 pass through the openings 52 of the sensor S and are fixed to the end face of the output portion 23. Therefore, in the modified example, the second fixing portion 32 is fixed to the movable member 22 of the actuator 5-1 without contacting the sensor S. In such a case, due to the presence of the second fixing portion 32, the sensor S is not directly subjected to the torsional reaction force from the wire body L, and thus it is understood that good force control using the sensor S can be performed.

[0064] Further, Figure 8A is a cross-sectional view in the axial direction of the actuator based on the second embodiment, Figure 8B is a cross-sectional view in the axial direction of the actuator based on the third embodiment. Figure 8A The actuator 5-2 shown does not include the sensor S. That is, the movable member 22 of the actuator 5-2 only includes the output portion 23. Further, the second fixing portion 32 is fixed to the end face of the extension portion 23a, that is, the end of the hollow hole 29. Further, the fixing member 21 includes a speed reducer 20 and a motor 10.

[0065] Figure 8B The actuator 5-3 shown in has an encoder E on the rear end side of the motor 10. The encoder E detects the rotational speed of the motor shaft 13 and the rotational speed of the extension portion 23a, etc. by a known method. Therefore, the fixing member 21 includes a speed reducer 20, a motor 10, and an encoder E. Therefore, in Figure 8B the first fixing portion 31 is mounted on the rear end of the encoder E. Further, the movable member 22 includes the output portion 23 and the sensor S. Further, although not shown, a hollow-structured driver may also be mounted on the right side (the rearmost end side) of the encoder E.

[0066] Thus, the fixed part 21 and the movable part 22 of the actuator are not limited to Figure 2 the structures shown. Cases where the fixed part 21 includes the encoder E and cases where the movable part 22 does not include the sensor S are also included within the scope of the present disclosure.

[0067] As an effect of at least one of the embodiments described above, since the first gripping portion and the second gripping portion are located inside the hollow hole 29, it is possible to prevent the actuator and the robot including such an actuator from becoming large-sized.

[0068] Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the above-described respective embodiments. These embodiments can be variously added, replaced, changed, partially deleted, etc. within the scope not departing from the gist of the invention or within the scope not departing from the idea and gist of the present disclosure derived from the content described in the claims and its equivalents. For example, in the above-described embodiments, the order of each action and the order of each process are shown as an example and are not limited thereto. In addition, the same applies to cases where numerical values or mathematical expressions are used in the description of the above-described embodiments. Also, cases where several of the foregoing embodiments are appropriately combined are included within the scope of the present disclosure.

[0069] Regarding the above-described embodiments and modification examples, the following supplementary notes are further disclosed.

[0070] (Supplementary Note 1)

[0071] An actuator, characterized by comprising:

[0072] A fixed part;

[0073] A movable part that rotates relative to the fixed part;

[0074] A hollow hole that penetrates the actuator;

[0075] A wire body that passes through the inside of the hollow hole;

[0076] A first fixing part that has a first gripping portion for gripping a part of the wire body; and

[0077] A second fixing part that has a second gripping portion for gripping the other part of the wire body,

[0078] The first gripping portion and the second gripping portion are located inside the hollow hole,

[0079] The distance between the first gripping portion and the second gripping portion is shorter than the length of the hollow hole,

[0080] The length of the wire body held by the first gripping portion and the second gripping portion and between the first gripping portion and the second gripping portion is longer than the length of the hollow hole.

[0081] (Supplementary Note 2)

[0082] The actuator according to Supplementary Note 1, wherein the wire body held by the first gripping portion and the second gripping portion and between the first gripping portion and the second gripping portion has a predetermined amount of slack.

[0083] (Supplementary Note 3)

[0084] The actuator according to Supplementary Note 1 or 2, wherein the first gripping portion and the second gripping portion are configured to be detachable from the remaining portions of the first fixing portion and the second fixing portion, respectively.

[0085] (Supplementary Note 4)

[0086] The actuator according to any one of Supplementary Notes 1 to 3, further comprising an adjustment mechanism capable of adjusting the slack of the wire body.

[0087] (Supplementary Note 5)

[0088] The actuator according to any one of Supplementary Notes 1 to 4, wherein the first fixing portion is fixed to the fixed member and the second fixing portion is fixed to the movable member.

[0089] (Supplementary Note 6)

[0090] A robot comprising at least one actuator according to any one of Supplementary Notes 1 to 5.

[0091] Symbolic Explanation

[0092] 1—Robot; 5, 5-1, 5-2—Actuator; 10—Motor; 13—Motor Shaft; 20—Reducer; 21—Fixed Member; 22—Movable Member; 23—Output Port; 23a—Extension Port; 29—Hollow Hole; 31—First Fixing Portion; 32—Second Fixing Portion; 41a, 41b—Plate Portion; 42a, 42b—Bracket; 43a—First Gripping Portion; 43b—Second Gripping Portion; 50—Bolt (Adjustment Mechanism); 61, 62—Arm Member; E—Encoder; L—Wire Body; N—Ring Spacer (Adjustment Mechanism); S—Force Sensor; W1, W2—Spacer (Adjustment Mechanism).

Claims

1. An actuator, characterized in that, Comprising: A fixed part; A movable part that rotates relative to the fixed part; A hollow hole that penetrates the actuator; A wire body that passes through the interior of the hollow hole; A first fixing part having a first holding part that holds a part of the wire body; And A second fixing part having a second holding part that holds the other part of the wire body, The first holding part and the second holding part are located inside the hollow hole, The distance between the first holding part and the second holding part is shorter than the length of the hollow hole, The length of the wire body held by the first holding part and the second holding part and between the first holding part and the second holding part is longer than the length of the hollow hole.

2. The actuator according to claim 1, characterized in that The wire body held by the first holding part and the second holding part and between the first holding part and the second holding part has a specified amount of slack.

3. The actuator according to claim 1, characterized in that The first holding part and the second holding part are configured to be detachable from the remaining parts of the first fixing part and the second fixing part respectively.

4. The actuator according to claim 1, characterized in that It further comprises an adjustment mechanism capable of adjusting the slack of the wire body.

5. The actuator according to claim 1 or 2, characterized in that The first fixing part is fixed to the fixed part, and the second fixing part is fixed to the movable part.

6. A robot, characterized in that, Including at least one actuator according to any one of claims 1 to 5.

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