Actuator

Abstract

To improve heat dissipation of a motor.SOLUTION: An actuator 1 comprises a motor 20 and a reduction gear 30 connected to each other. A heat transfer member 25 which has elasticity is arranged between a coil end 232a of the motor 20 and a first reduction gear casing 34A of the reduction gear 30.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an actuator.

Background Art

[0002] Conventionally, an actuator including a motor and a speed reducer has been known (for example, see Patent Document 1). In this type of actuator, heat generation of the motor becomes a problem. As a single motor, a method of radiating heat from the casing by providing heat dissipation fins on the casing (housing) is generally used, but there is room for improvement in its cooling performance (heat dissipation).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The present invention has been made in view of the above circumstances, and an object thereof is to improve the heat dissipation of the motor.

Means for Solving the Problems

[0005] The present invention is an actuator, comprising a motor and a speed reducer connected to each other, wherein an elastic heat transfer member is disposed between the coil end of the motor and the speed reducer casing of the speed reducer 、 The reduction gear has a retaining plate positioned inside the reduction gear casing that restricts the axial movement of the gear members. The heat transfer member is in contact with the gearbox casing and the retaining plate. configured as such.

Effects of the Invention

[0006] According to the present invention, the heat dissipation of the motor can be improved. [Brief explanation of the drawing]

[0007] [Figure 1] This is a cross-sectional view showing an actuator according to the first embodiment. [Figure 2] This is a magnified view of the area around the motor in Figure 1. [Figure 3] This is a cross-sectional view showing an actuator according to the second embodiment. [Modes for carrying out the invention]

[0008] Embodiments of the present invention will be described in detail below with reference to the drawings.

[0009] <First Embodiment> Figure 1 is a cross-sectional view showing an actuator 1 according to the first embodiment of the present invention, and Figure 2 is an enlarged view of the area around the motor 20. As shown in Figure 1, the actuator 1 according to the first embodiment comprises a motor 20, a reduction gear 30, a brake 40, and a circuit unit 50. The application of the actuator 1 is not particularly limited, but it may be incorporated into the joints of, for example, industrial robots, collaborative robots, or service robots. In the following explanation, the direction along the central axis Ax of actuator 1 is referred to as the "axial direction," the direction perpendicular to the central axis Ax is referred to as the "radial direction," and the rotational direction around the central axis Ax is referred to as the "circumferential direction." Furthermore, within the axial direction, the side connected to the driven member (not shown) (left side in the diagram) is referred to as the "output side (load side)," and the side opposite the output side (right side in the diagram) is referred to as the "anti-output side (anti-load side)."

[0010] [Motor Configuration] The motor 20 comprises a rotating shaft 21, a motor rotor 22, a motor stator 23, and a motor casing 24. The rotating shaft 21 is positioned to pass through the center of the gearbox 30 and brake 40, and is supported so as to be rotatable around the central axis Ax. The motor rotor 22 is fixed to the outer surface of the rotating shaft 21 and rotates integrally with the rotating shaft 21. The motor rotor 22 has permanent magnets, such as neodymium magnets, on its outer surface.

[0011] The motor stator 23 is constructed by winding coils around a stator core 231, which is made of laminated steel plates, for example. The motor stator 23 is arranged concentrically on the outer circumference of the motor rotor 22. Coil ends 232, in which the coils wound around the stator core 231 are exposed, protrude from both axial sides of the motor stator 23. The coil ends 232 are resin-molded throughout. Elastic heat transfer members 25 are sandwiched between the output coil end 232a and the first reduction gear casing 34A of the reduction gear 30, and between the non-output coil end 232b and the cover member 61. Details of the contact state of these heat transfer members 25 will be described later.

[0012] The motor casing 24 covers the outer circumference of the motor rotor 22 and the motor stator 23, with the motor stator 23 fitted inside its inner surface. The motor casing 24 is not particularly limited, but is made of aluminum primarily for the purpose of weight reduction and improved cooling. The type of motor 20 is not particularly limited; for example, it may be an induction motor instead of a permanent magnet motor.

[0013] [Configuration of the gearbox] The reduction gear 30 is a center-crank type eccentric oscillating reduction gear and is located on the output side of the motor 20. Specifically, the reduction gear 30 comprises a plurality (two) of eccentric bodies 31a and 31b, external gears 32A and 32B, first to third output shafts 33A to 33C, and a first reduction gear casing 34A and a second reduction gear casing 34B. The eccentric bodies 31a and 31b are provided on the outer circumferential surface of the rotating shaft 21. In this embodiment, the rotating shaft 21 serves as both the output shaft of the motor and the input shaft of the reduction gear, but the output shaft of the motor and the input shaft of the reduction gear may be separate and connected to each other.

[0014] The external gear wheels 32A and 32B have a plurality of inner pin holes provided circumferentially spaced apart at positions offset from the central axis Ax, and a central through hole through which the rotary shaft 21 is inserted. The external gear wheels 32A and 32B are rotatably supported with respect to the eccentric bodies 31a and 31b by eccentric body bearings 35a and 35b respectively disposed between them and the eccentric bodies 31a and 31b, and swing due to the rotation of the eccentric bodies 31a and 31b.

[0015] The first output shaft 33A is disposed on the outer peripheral side of the rotary shaft 21 and on the output sides of the external gear wheels 32A and 32B. The second output shaft 33B is disposed on the output side of the first output shaft 33A, and the third output shaft 33C is disposed on the output side of the second output shaft 33B. The first to third output shafts 33A to 33C are fixed to each other and are fixed to a driven member (for example, the tip-side arm member of a robot) not shown. The first output shaft 33A rotatably supports the rotary shaft 21 by a bearing 36 disposed between them. The first output shaft 33A has a plurality of inner pins 33p formed to bulge pin-shaped toward the opposite output side. The inner pins 33p are inserted into the inner pin holes of the external gear wheels 32A and 32B. A restraining plate 38 that restricts the movement of the external gear wheel 32A toward the opposite output side is disposed on the opposite output side of the inner pins 33p. Further, in order to promote sliding with the inner pin holes of the external gear wheel 32, inner rollers are rotatably externally fitted to the inner pins 33p, and the restraining plate 38 also restricts the movement of the inner rollers toward the opposite output side.

[0016] As shown in Fig. 2, the retaining plate 38 has a disk portion 38a disposed perpendicular to the axial direction, a cylindrical portion 38b extending from the inner peripheral end of the disk portion 38a to the anti-output side, and an extending portion 38c extending from the end of the cylindrical portion 38b on the anti-output side to the inner peripheral side. The outer peripheral portion of the disk portion 38a is held (or fitted) by the first reduction gear casing 34A, and the surface on the anti-output side is substantially flush with the surface of the first reduction gear casing 34A. The cylindrical portion 38b has a tapered shape that gradually decreases in diameter from the output side toward the anti-output side. The outer diameter of the extending portion 38c is larger than the outer diameter of the regulating member 39a, and the inner diameter is smaller than the outer diameter of the regulating member 39a. The regulating member 39a is fitted to the outer peripheral surface of the rotating shaft 21 at the side portion on the anti-output side of the eccentric bearing 35a and regulates the movement of the eccentric bearing 35a toward the anti-output side. A first retaining ring 39b fitted into the circumferential groove of the rotating shaft 21 is disposed on the side portion on the anti-output side of the regulating member 39a. A second retaining ring 39c fitted into the circumferential groove of the rotating shaft 21 is disposed on the opposite side in the axial direction from the first retaining ring 39b across the extending portion 38c. The cylindrical portion 38b and the extending portion 38c of the retaining plate 38, together with the regulating member 39a, the first retaining ring 39b, the second retaining ring 39c, and the rotating shaft 21, constitute a labyrinth seal. Thereby, compared with the case where an oil seal is provided at this portion, it is possible to preferably seal between the motor 20 and the reduction gear 30 with a compact and low-loss configuration, and suppress the outflow of the lubricant in the reduction gear 30.

[0017] As shown in Fig. 1, the first reduction gear casing 34A is disposed on the outer peripheral sides of the external gears 32A, 32B, and the retaining plate 38. An internal gear 34g is provided on the inner peripheral portion of the first reduction gear casing 34A. The internal gear 34g has a plurality of external pins that form internal teeth and mesh internally with the external gears 32A, 32B. The second reduction gear casing 34B is disposed on the outer peripheral sides of the first output shaft 33A and the second output shaft 33B. The second reduction gear casing 34B rotatably supports the first output shaft 33A by a main bearing 37 disposed between the second reduction gear casing 34B and the first output shaft 33A. The second reduction gear casing 34B is fixed to the first reduction gear casing 34A. Also, the second reduction gear casing 34B is fixed to a mating member E (for example, the base end side arm member of a robot).

[0018] With this configuration, in the reduction gear 30, as the rotating shaft 21 output from the motor 20 rotates, the eccentric bodies 31a and 31b rotate inside the external gears 32A and 32B, causing the external gears 32A and 32B to oscillate in different phases. Due to the oscillation, the external teeth of the external gears 32A and 32B that are furthest from the central axis Ax mesh with the internal gear 34g, and this meshing position changes circumferentially with the oscillation. Specifically, for each rotation of the rotating shaft 21, the meshing position between the internal gear 34g and the external gears 32A and 32B completes one rotation in the circumferential direction. There is a difference in the number of teeth between the external gears 32A and 32B and the internal gear 34g, and for each rotation of the meshing position with the internal gear 34g, the external gears 32A and 32B rotate by the above-mentioned difference in the number of teeth. This rotation is transmitted to the first to third output shafts 33A to 33C via the internal pin 33p. As a result, the rotational motion of the rotating shaft 21 is reduced and extracted from the driven member connected to the third output shaft 33C.

[0019] [Brake configuration] The brake 40 is positioned on the side opposite to the output of the motor 20. The brake 40 in this embodiment is not particularly limited, but it is a holding brake that holds the rotating shaft 21 in a stopped state.

[0020] The brake 40 comprises a hub member 41, a rotor 42, an armature 43, an electromagnetic coil 44, a plate 46, a frame 47, and a brake casing 48. The hub member 41 is fixed (for example, connected by a key) to a rotating shaft 21 that extends from the motor 20 to the inside of the brake 40, and the rotor 42 is formed in a disc shape and connected to the hub member 41 by splines or the like. Therefore, the rotor 42 rotates integrally with the rotating shaft 21.

[0021] The armature 43 is positioned on the output side of the rotor 42 and is supported so as to be axially displaceable relative to the rotor 42. On the other hand, a plate 46 is positioned on the non-output side of the rotor 42 and is supported by a frame 47. Two friction materials (linings) 43a and 46a are fixed to the respective surfaces of the armature 43 and plate 46 that face the rotor 42 in the axial direction. Of these, the one provided on the armature 43 is the movable friction material 43a, and the one provided on the plate 46 is the fixed friction material 46a.

[0022] The electromagnetic coil 44 moves the armature 43 axially by the magnetic force generated when current is applied, causing the movable friction material 43a to move toward and away from the rotor 42. The frame 47 is supported by the brake casing 48 and holds the electromagnetic coil 44 and plate 46, etc. The brake casing 48 is fixed to the cover member 61.

[0023] A cover member 61 is positioned between the brake 40 and the motor 20. A bearing 62 that rotatably supports the rotating shaft 21 and an oil seal 63 that seals the space between the motor 20 and the brake 40 are positioned on the inner circumference of the cover member 61. The cover member 61 is fastened together with the brake casing 48, the motor casing 24, and the first reduction gear casing 34A by fastening screws 64.

[0024] In the brake 40 having the above configuration, the action of the electromagnetic coil 44 clamps the rotor 42 between the armature 43 and the plate 46 via the respective friction materials 43a and 46a, thereby applying a braking force (holding force) to the rotating shaft 21. Conversely, the action of the electromagnetic coil 44 releases the force that the armature 43 and the plate 46 exert on the rotor 42, thereby releasing the braking force (holding force) on the rotating shaft 21. In this embodiment, the brake 40 is a non-excitation type brake. When the electromagnetic coil 44 is not energized, it operates by the biasing force of a spring (not shown), and the armature 43 presses against the rotor 42 to hold the rotating shaft 21 in a stopped state.

[0025] [Circuit Configuration] The circuit unit 50 is located on the non-output side of the brake 40. The circuit unit 50 includes a rotation detection unit 51 that detects the rotation of the rotating shaft 21, a motor driver board on which the drive circuit for the motor 20 is mounted, and an encoder board on which the detection circuit for the rotation detection unit 51 is mounted. These are housed in a circuit unit casing 52 fixed to the brake casing 48.

[0026] [Contact state of heat transfer components] As shown in Figure 2, the coil end 232 of the motor 20 has an elastic heat transfer member 25 interposed between it and an adjacent member on its axially outer side. Specifically, a first heat transfer member 25a is positioned between the output-side coil end 232a and the first reduction gear casing 34A of the reduction gear 30, and a second heat transfer member 25b is positioned between the non-output-side coil end 232b and the cover member 61. More specifically, since each coil end 232 is resin-molded, each heat transfer member 25 is positioned (clasped) between the resin-molded coil end 232 (i.e., the molding resin that molds the coil end 232) and the first reduction gear casing 34A or cover member 61. Furthermore, each heat transfer member 25 is sandwiched between the coil end 232 and the first reduction gear casing 34A or cover member 61 in a compressed state (a state in which the axial dimension has been reduced) compared to before its assembly (before it is assembled between the coil end 232 and the first reduction gear casing 34A or cover member 61). In other words, the axial dimension between the coil end 232 and the first reduction gear casing 34A or cover member 61 is reduced (shorter) than the axial dimension of the heat transfer member 25 before assembly.

[0027] The output-side first heat transfer member 25a is in contact with the first reduction gear casing 34A of the reduction gear 30, as well as with the retaining plate 38 on its inner circumference. However, it is preferable that the axial compression (force) of the first heat transfer member 25a between the coil end 232a and the retaining plate 38 is weaker than the axial compression (force) of the first heat transfer member 25a between the coil end 232a and the first reduction gear casing 34A. In other words, with respect to the space in which the first heat transfer member 25a is incorporated, it is preferable that the axial dimension between the coil end 232a and the retaining plate 38 is larger (longer) than the axial dimension between the coil end 232a and the first reduction gear casing 34A. Furthermore, it is preferable that the first heat transfer member 25a on the output side has higher heat transfer properties than the second heat transfer member 25b on the non-output side. To achieve this, the first heat transfer member 25a may be made of a material with a higher thermal conductivity than the second heat transfer member 25b, or the axial compression of the first heat transfer member 25a may be made stronger than that of the second heat transfer member 25b.

[0028] The heat transfer member 25 is not particularly limited as long as it is elastic and has a thermal conductivity greater than that of air (approximately 0.025 W / m·K). For example, various high thermal conductivity resins can be suitably applied. For example, if the heat transfer member 25 is made of epoxy resin or silicone resin, a thermal conductivity of 0.5 to 5.5 W / m·K can be achieved. This improves heat dissipation compared to the case where a gap (air) is provided between the coil end 232 and the first reduction gear casing 34A or cover member 61. The form of the heat transfer member 25 is not particularly limited, and for example, sheet-like, gel-like, or other forms can be used. It may also be applied to the coil end 232, attached to it, or simply placed on it.

[0029] By providing such heat transfer members 25, heat generated from the motor stator 23 is transmitted through the motor casing 24 to the first reduction gear casing 34A or cover member 61, and at the same time, heat is transmitted from each coil end 232 to the first reduction gear casing 34A or cover member 61 through each heat transfer member 25. Therefore, the heat dissipation of the motor 20 (motor stator 23), especially the heat dissipation of the coil ends 232, can be improved. Furthermore, since each heat transfer member 25 is elastic, it can hold the retaining plate 38 and cover member 61 without applying excessive load, and there is no need for strict dimensional control.

[0030] [Technical Effects of the First Embodiment] As described above, according to the actuator 1 of the first embodiment, an elastic first heat transfer member 25a is arranged between the coil end 232a of the motor 20 and the first reduction gear casing 34A of the reduction gear 30. As a result, the heat generated at the coil end 232a is transferred to the first reduction gear casing 34A through the first heat transfer member 25a. Therefore, unlike conventional designs where heat was dissipated by the motor alone, the heat dissipation of the motor 20 can be improved, making it suitable as an actuator 1. Furthermore, because the heat transfer member 25 is elastic, it can be easily incorporated without the need for strict dimensional control.

[0031] Furthermore, according to the actuator 1 of the first embodiment, since the first reduction gear casing 34A is connected to the mating member E (via the second reduction gear casing 34B), the heat generated by the coil end 232a is transmitted to the mating member E via the first reduction gear casing 34A. This further improves the heat dissipation of the motor 20.

[0032] Furthermore, according to the actuator 1 of the first embodiment, the first heat transfer member 25a is sandwiched between the coil end 232a and the first reduction gear casing 34A in a compressed state (a state in which the axial dimension has been reduced) compared to before assembly. This makes it possible to further enhance the heat transfer effect from the coil end 232a to the first reduction gear casing 34A through the first heat transfer member 25a.

[0033] Furthermore, according to the actuator 1 of the first embodiment, the first heat transfer member 25a is in contact with the first reduction gear casing 34A and a retaining plate 38 which is arranged on the inner circumference side of the first reduction gear casing 34A and holds the external gear 32A (reduction member) in the axial direction. This allows the first heat transfer member 25a to suitably hold the retaining plate 38 while transmitting the heat generated by the coil end 232a to the first reduction gear casing 34A.

[0034] Furthermore, according to the actuator 1 of the first embodiment, the axial compression of the first heat transfer member 25a between the coil end 232a and the retaining plate 38 is weaker than the axial compression of the first heat transfer member 25a between the coil end 232a and the first reduction gear casing 34A. This allows the heat transfer performance of the first heat transfer member 25a to the first reduction gear casing 34A to be relatively improved while the retaining plate 38 can be held in place effectively.

[0035] Furthermore, according to the actuator 1 of the first embodiment, an elastic second heat transfer member 25b is also positioned between the coil end 232b on the non-output side and the cover member 61 located on the non-output side of the motor 20. This allows heat to be dissipated from the coil end 232b on the non-output side to the cover member 61, further improving the heat dissipation performance of the motor 20.

[0036] Furthermore, according to the actuator 1 of the first embodiment, the first heat transfer member 25a on the output side has higher heat transfer properties than the second heat transfer member 25b on the non-output side. This improves heat transfer to the output side, which is connected to the mating component E, i.e., the side with a larger heat capacity, and consequently further improves the heat dissipation of the motor 20.

[0037] <Second Embodiment> Next, a second embodiment of the present invention will be described. Figure 3 is a cross-sectional view showing the actuator 2 according to the second embodiment. Actuator 2 differs from actuator 1 of the first embodiment in that it is equipped with a deflection-meshing type reducer 70 instead of the eccentric oscillating type reducer 30 of the first embodiment. The following will mainly describe this difference, and components similar to those of the first embodiment will be denoted by the same reference numerals and their descriptions will be omitted.

[0038] As shown in Figure 3, the gearbox 70 is a cylindrical, flexible mesh type gearbox and is located on the output side of the motor 20. Specifically, the gearbox 70 comprises a vibrator 71, an external gear 72, a first internal gear 73G and a second internal gear 74G, a first gearbox casing 73A, a second gearbox casing 73B, and an internal gear member 74.

[0039] The vibrator 71 is provided on the portion of the rotating shaft 21 that extends into the reduction gear 70, and its cross-sectional shape perpendicular to the central axis Ax is formed to be non-circular (for example, elliptical). The external gear 72 is a flexible, cylindrical member with a central axis Ax, and has teeth on its outer circumference. The external gear 72 is rotatable relative to the vibrator 71 by a vibrator bearing 71B positioned between it and the vibrator 71, and deforms by bending as the vibrator 71 rotates.

[0040] The first internal gear 73G and the second internal gear 74G rotate around the vibrator 71 about the central axis Ax. The first internal gear 73G and the second internal gear 74G are arranged side by side in the axial direction and mesh with the external gear 72. The first internal gear 73G and the second internal gear 74G are constructed by providing internal teeth at the corresponding locations on the inner circumference of the first reduction gear casing 73A and the internal gear member 74. The first reduction gear casing 73A covers the outer circumference of the external gear 72. The first reduction gear casing 73A is fastened together with the brake casing 48, cover member 61, and motor casing 24 by fastening screws 64. The internal gear member 74 is connected to an output member 77 located on its output side. The output member 77 rotatably supports the rotating shaft 21 via a bearing 75. The output member 77 is connected to a driven member (not shown).

[0041] The second reduction gear casing 73B is positioned and connected to the output side of the first reduction gear casing 73A. The second reduction gear casing 73B covers the outer circumference of the internal gear member 74 and rotatably supports the internal gear member 74 via a main bearing 76B (e.g., a cross roller bearing). The second reduction gear casing 73B is fixed to the mating member E together with the first reduction gear casing 73A.

[0042] A retaining plate 78 is positioned on the non-output side of the external gear 72 and the vibrator bearing 71B to restrict their movement toward the non-output side. The retaining plate 78 is configured similarly to the retaining plate 38 of the first embodiment described above, and has a disc portion 78a arranged perpendicular to the axial direction, a cylindrical portion 78b extending from the inner circumferential end of the disc portion 78a toward the opposite output side, and an extended portion 78c extending from the opposite output side end of the cylindrical portion 78b toward the inner circumferential side. The outer circumference of the disc portion 78a is held (or fitted) to the first reduction gear casing 73A, and the surface toward the opposite output side is substantially flush with the surface of the first reduction gear casing 73A. The cylindrical portion 78b has a tapered shape, gradually decreasing in diameter from the output side toward the opposite output side. The extended portion 78c has an outer diameter larger than the outer diameter of the stepped portion 21a of the rotating shaft 21, and an inner diameter smaller than the outer diameter of the stepped portion 21a. The stepped portion 21a of the rotating shaft 21 is located on the inner circumferential side of the cylindrical portion 78b and is formed in a stepped shape, with its outer diameter decreasing toward the opposite output side. On the axial side of the extended portion 78c, opposite the stepped portion 21a, is a retaining ring 79 fitted into the circumferential groove of the rotating shaft 21. The cylindrical portion 78b and extended portion 78c of the retaining plate 78, the stepped portion 21a of the rotating shaft 21, and the retaining ring 79 constitute a labyrinth seal. This allows for a compact and low-loss configuration compared to when an oil seal is provided in this area, and enables suitable sealing between the motor 20 and the reduction gear 70, thereby suppressing the outflow of lubricant from within the reduction gear 70.

[0043] In this configuration, in the reduction gear 70, the vibrator 71, which is integrally configured with the rotating shaft 21 output from the motor 20, also rotates in conjunction with the rotation of the rotating shaft 21, and this motion is transmitted to the external gear 72. At this time, the external gear 72 is restricted to a shape that follows the outer surface of the vibrator 71 and deflects in an elliptical shape when viewed from the axial direction. Furthermore, since the external gear 72 meshes with the fixed first internal gear 73G at its long axis portion, it does not rotate at the same rotational speed as the vibrator 71, and the vibrator 71 rotates relatively inside the external gear 72. As a result of this relative rotation, the external gear 72 deforms by deflection so that its long axis position and short axis position move in the circumferential direction. The period of this deformation is proportional to the rotation period of the vibrator 71. When the external gear 72 deforms by bending, its long axis position shifts, causing the meshing position between the external gear 72 and the first internal gear 73G to change in the rotational direction. This causes the external gear 72 to rotate, and it is decelerated at a reduction ratio corresponding to the difference in the number of teeth between the external gear 72 and the first internal gear 73G. For example, if the external gear 72 has 100 teeth and the first internal gear 73G has 102 teeth, the speed is reduced to 1 / 50. On the other hand, since the external gear 72 also meshes with the second internal gear 74G, the meshing position between the external gear 72 and the second internal gear 74G also changes in the rotational direction due to the rotation of the vibrator 71. If the number of teeth of the second internal gear 74G and the number of teeth of the external gear 72 are the same, the external gear 72 and the second internal gear 74G do not rotate relative to each other, and the rotational motion of the external gear 72 is transmitted to the second internal gear 74G at a reduction ratio of 1:1. As a result, the rotational motion of the vibrator 71 is reduced and transmitted to the internal gear member 74 and the output member 77, and this rotational motion is output to the driven member.

[0044] Furthermore, in the actuator 2 of the second embodiment, the first heat transfer member 25a, positioned at the coil end 232a of the motor 20, is in contact with the first reduction gear casing 73A and the retaining plate 78, instead of the first reduction gear casing 34A and the retaining plate 38 in the first embodiment. And, similar to the first embodiment, it holds the retaining plate 78 while transferring the heat generated by the coil end 232a to the first reduction gear casing 73A.

[0045] The actuator 2 of the second embodiment, configured as described above, can also achieve the same effects as the first embodiment.

[0046] <Other> Although embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above. For example, in the above embodiment, a center-crank type eccentric oscillating reducer and a cylindrical type flexible mesh reducer were given as examples of reducers. However, the type of reducer according to the present invention is not particularly limited, and may be a cup-type or top-hat-type flexible mesh reducer, a distribution-type eccentric oscillating reducer, a simple planetary reducer, or a parallel-axis reducer or a right-angle reducer.

[0047] Furthermore, details shown in the above embodiments can be modified as appropriate without departing from the spirit of the invention. [Explanation of Symbols]

[0048] 1, 2 Actuators 20 motors 21 Rotation axis 23 Motor Stator 24 Motor Casing 25 Heat transfer components 25a First heat transfer member 25b Second heat transfer member 30 Reducer 32A, 32B External gears (gear components) 33p inner pin 34A First gearbox casing 34B Second gearbox casing 38 Retaining plate 40 Brake 50 Circuit section 61 Cover component 62 Bearings 63 Oil seal 70 Reducer 71B Vibrator bearing 72 External gear (gear component) 73A First gearbox casing 73B Second gearbox casing 78 Retaining plate 231 Stator Core 232, 232a, 232b coil ends Ax center axis E mating component

Claims

1. It comprises a motor and a reduction gear connected to each other, An elastic heat transfer member is placed between the coil end of the motor and the reduction gear casing of the reduction gear. The reduction gear has a retaining plate positioned inside the reduction gear casing that restricts the axial movement of the gear members. The heat transfer member is in contact with the gearbox casing and the retaining plate. Actuator.

2. The aforementioned reduction gear casing is connected to the mating member, The actuator according to claim 1.

3. The heat transfer member is sandwiched between the coil end and the reduction gear casing in a compressed state compared to before assembly. The actuator according to claim 1 or claim 2.

4. The compression of the heat transfer member between the coil end and the retaining plate is weaker than the compression of the heat transfer member between the coil end and the reduction gear casing. The actuator according to any one of claims 1 to 3.

5. The coil end is resin-molded, The heat transfer member is sandwiched between the resin molding the coil end and the gearbox casing. The actuator according to any one of claims 1 to 4.

6. The motor has another coil end on the side opposite to the reduction gear side, An elastic heat transfer member is positioned between the other coil end and the cover member located on the side opposite the reduction gear than the coil end. The actuator according to any one of claims 1 to 5.

7. The heat transfer member described above has higher heat transfer properties than the other heat transfer members described above. The actuator according to claim 6.

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