Rotary actuator
The rotary actuator design addresses space constraints by allowing easy setting and adjustment of the stopping position through a side-operated stopper member, preventing rattling and variations, and supporting multiple positions, suitable for industrial use.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- IAI CORP
- Filing Date
- 2022-04-11
- Publication Date
- 2026-05-11
AI Technical Summary
Conventional rotary actuators face difficulties in securing sufficient space for bolt operations due to their arrangement in the same direction as the output shaft, making it challenging to set the stop position and prone to rattling and variations.
A rotary actuator design featuring a base, a rotary table, a contact portion, and a stopper member installed on a ring member, allowing the stopper member to be fixed and operated from the side, enabling easy setting and adjustment of the stopping position, and preventing rattling and variations through a simple configuration.
The design prevents rattling and variations in the stopping position, allows easy setting of the stop position, and supports multiple arbitrary stopping positions, while being suitable for industrial applications.
Smart Images
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Abstract
Description
Technical Field
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[0001] The present invention relates to a rotary actuator, and particularly to an actuator that is devised to prevent rattling and variations in the stop position with a simple configuration and to easily set the stop position.
Background Art
[0002] As a conventional rotary actuator, there is one described in Patent Document 1. The rotary actuator described in Patent Document 1 has an arm fixed to an output shaft and protruding in the radial direction of the output shaft. Further, on the base of the rotary actuator, there is a stopper member that defines the swing range of the arm by abutting against the arm. The stopper member is fastened and fixed by bolts.
[0003] Also, by releasing the fastening by the bolts and moving the stopper member along the long hole formed in the base, the swing range of the arm by the stopper member can be set at an arbitrary position within the range of the long hole.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] However, the above conventional configuration has the following problems. Since the bolts for fixing the stopper member are arranged in the same direction as the output shaft, for example, when an object to be swung is attached to the tip side of the output shaft, it is impossible to secure sufficient space for performing operations such as fastening and releasing the bolts, making the work difficult to perform.
[0006] The present invention is based on these points and aims to provide a rotary actuator that can prevent rattling and variations in stopping position with a simple configuration and that can easily set the stopping position. [Means for solving the problem]
[0007] To solve the above problems, the rotary actuator according to claim 1 of the present invention comprises a base, a rotary table rotatably mounted protruding from the outside of the base, a contact portion provided on the rotary table, and a stopper member protruding from the outside of the base and installed at an arbitrary position on the outer circumference of the rotary table, wherein the contact portion contacts the stopper member, the stopper member is fixed by a fixing member, the fixing member is operable from the side of the rotary table, and the stopper member is installed on a ring member installed on the outer circumference of the rotary table of the base. When the fixing by the above-mentioned fixing member is released, the stopper member can slide along the ring member along the entire circumference of the ring member. It is characterized by the following: Furthermore, the rotary actuator according to claim 2 is the rotary actuator according to claim 1, in which the above The stopper component is removable. It is characterized by the fact that it is possible. Furthermore, the rotary actuator according to claim 3 is the rotary actuator according to claim 1, wherein the stopper member Multiple units are installed. It is characterized by the following: Furthermore, the rotary actuator according to claim 4 is the rotary actuator according to claim 1, in which the above The ring component is detachable. It is characterized by the following: Furthermore, the rotary actuator according to claim 5 is as described in claim 1 From any of claim 4 In the rotary actuator described above, The rotary table is driven by a motor via gears. It is characterized by the following: [Effects of the Invention]
[0008] As described above, the rotary actuator according to claim 1 of the present invention comprises a base, a rotary table rotatably mounted on the base, a contact portion provided on the rotary table, and a stopper member installed at any position on the base, which defines the rotation range of the rotary table when the contact portion contacts it. The stopper member is fixed by a fixing member, and the fixing member can be operated from the side of the rotary table. Therefore, with a simple configuration, rattling and variations in the stopping position can be prevented, and the stopping position can be easily set. Furthermore, according to the rotary actuator described in claim 2, in the rotary actuator described in claim 1, the stopper member is installed on a ring member installed on the outer circumference of the rotating table of the base, so that a stopping position can be easily set on the circumference of the outer circumference of the rotating table. Furthermore, according to the rotary actuator described in claim 3, in the rotary actuator described in claim 2, when the fixing by the fixing member is released, the stopper member can slide along the ring member, so the stopping position can be easily changed. Furthermore, according to the rotary actuator described in claim 4, the stopper member is detachable in the rotary actuator described in claim 1 and can therefore be easily replaced. Furthermore, according to the rotary actuator described in claim 5, since multiple stopper members are installed in the rotary actuator described in claim 1, multiple arbitrary stopping positions can be set. Furthermore, according to the rotary actuator described in claim 6, the ring member is detachable in the rotary actuator described in claim 2 and can therefore be easily replaced. Furthermore, according to the rotary actuator described in claim 7, in the rotary actuator described in any of claims 1 to 6, the rotary table is driven by a motor via gears, so that rattle due to gear backlash can be prevented. [Brief explanation of the drawing]
[0009] [Figure 1]Figure 1(a) is a plan view of the rotary actuator, and Figure 1(b) is a view taken along the line Ib-Ib in Figure 1(a). [Figure 2] This figure shows a first embodiment of the present invention, specifically a cross-sectional view taken along line II-II in Figure 1(b). [Figure 3] Figures illustrating the first embodiment of the present invention, where Figure 3(a) is a cross-sectional view taken along the line IIIa-IIIa in Figure 1(a), and Figure 3(b) is a cross-sectional view taken along the line IIIb-IIIb in Figure 1(a). [Figure 4] This figure shows a first embodiment of the present invention, and is a cross-sectional view taken along line IV-IV of Figure 1(a). [Figure 5] This figure shows a first embodiment of the present invention and is an exploded perspective view of a rotary actuator. [Figure 6] This figure shows a first embodiment of the present invention, and is an exploded perspective view of the mounting portion of the stopper member of the rotary actuator. [Figure 7] Figure 7(a) shows a plan view of the rotary actuator with the rotary table in the origin position, and Figure 7(b) shows a plan view of the rotary actuator with the contact portion of the rotary table in contact with the stopper member. [Figure 8] Figure 8(a) shows a plan view of the rotary actuator with the contact portion of the rotary table in contact with the first stopper member, and Figure 8(b) shows a plan view of the rotary actuator with the contact portion of the rotary table in contact with the second stopper member. [Modes for carrying out the invention]
[0010] Hereinafter, a first embodiment of the present invention will be described with reference to Figures 1 to 7. In the rotary actuator 1 according to this first embodiment, for example, as shown in FIGS. 1 and 2, there is a base 3. As shown in FIGS. 3(a) and 3(b), a rotary member accommodating recess 5 is provided in the base 3, and a bearing 7 is installed in the rotary member accommodating recess 5. The outer ring 9 of the bearing 7 is inserted and fixed between a stepped portion 11 formed in the rotary member accommodating recess 5 and a bearing pressing member 13 inserted from the upper side in FIG. 3(a) of the rotary member accommodating recess 5.
[0011] A rotary member 17 is fixed to the inner ring 15 of the bearing 7. The rotary member 17 is composed of an upper element 19 and a lower element 21, and the inner ring 15 of the bearing 7 is inserted and fixed between the upper element 19 and the lower element 21. With such a configuration, the rotary member 17 is installed rotatably with respect to the base 3. Further, a hollow sleeve 23 is erected in the vertical direction in FIG. 3(a) inside the rotary member accommodating recess 5, and a through hole 24 is formed in the base 3 in the same axial direction (vertical direction in FIG. 3(a)) as the sleeve 23. A through hole 25 is formed in the lower element 21 of the rotary member 17, and the sleeve 23 is inserted into the through hole 25 with a minute gap provided between the inner peripheral surface of the through hole 25. Further, a through hole 26 coaxial with the through hole 25 is also formed in the upper element 19. Also, the lower side in FIG. 3(a) of the lower element 21 is a bevel gear portion 27.
[0012] As shown in FIGS. 3(b) and 5, a home position stopper 31 is installed in the rotary member accommodating recess 5 in the base 3. Further, a home position contact pin 33 is installed in the upper element 19 of the rotary member 17. The home position of the rotary member 17 is defined by the home position contact pin 33 of the rotary member 17 coming into contact with the home position stopper 31.
[0013] Also, as shown in FIGS. 2 and 3(a), on the base 3, a bevel gear shaft 45 is installed via bearings 41 and 43 so as to be rotatable with its direction pointing in the left-right direction in FIG. 3. The tip side on the right side of the bevel gear shaft 45 in FIG. 3(a) is meshed with a bevel gear portion 27 of a lower element 21 of the rotating member 17. The bevel gears of the bevel gear shaft 45 and the bevel gear portion 27 are, for example, curved-tooth bevel gears. A pulley 47 is fixed to the tip on the left side of the bevel gear shaft 45 in FIG. 3(a).
[0014] Also, as shown in FIG. 2, a motor 51 is installed in the base 3. A pulley 55 is fixed to an output shaft 53 of the motor 51. As shown in FIGS. 2 and 4, a belt 57 is wound around the pulley 47 and the pulley 55, and rotation of the output shaft 53 of the motor 51 rotates the bevel gear shaft 45, and rotation of the bevel gear shaft 45 rotates the rotating member 17.
[0015] As shown in FIGS. 1 to 3, an end cover 61 is installed at the left end of the base 3 in FIG. 3(a). The pulley 47, the pulley 55, and the belt 57 are housed in the end cover 61.
[0016] Also, as shown in FIG. 3, a controller board 63 and an end cover 65 are installed at the right end of the base 3 in FIG. 3(a). The controller board 63 is housed in the end cover 65.
[0017] As shown in FIGS. 1(a), 5, and 6, a rotary table 71 is fixed to the rotating member 17. The rotary table 71 is arranged in a state of protruding upward in FIG. 5 of the base 3. As shown in FIG. 3, a contact portion 73 is installed on the side surface of the rotary table 71.
[0018] For example, as shown in Figure 5, the rotary table 71 is fixed by passing a bolt 75 through the rotary table 71 and screwing it into the upper element 19 of the rotating member 17. Also, as shown in Figures 3(a) and 5, a recess 77 for a positioning pin is formed in the upper element 19 of the rotating member 17, and a recess 79 for a positioning pin is formed in the rotary table 71. A positioning pin 81 is engaged with the positioning pin recess 77 and the positioning pin recess 79.
[0019] Furthermore, the rotary table 71 has a through hole 83 that is coaxial with the through hole 24 of the base 3. The through hole 26 of the upper element 19, the inside of the sleeve 23, the through hole 24, and the through hole 83 form a continuous through section from the bottom surface of the base 3 to the top surface of the rotary table 71. For example, if the object placed on the rotary table 71 requires power, power cables or pneumatic piping can be laid through this continuous through section.
[0020] For example, as shown in Figure 3(a), a ring member 91 is detachably installed on the upper side of the base 3 in Figure 3(a). The ring member 91 is positioned coaxially with the rotary table 71 and on the outer circumference of the rotary table 71. The ring member 91 is fixed by passing a bolt 93 through the ring member 91 and screwing it into the base 3. An annular groove 95 is formed on the outer surface of the ring member 91.
[0021] A stopper member 101 is detachably installed on the ring member 91. The stopper member 101 has an engaging recess 103 formed therein, as shown in Figures 3(a) and 6, for example, and the engaging recess 103 engages with the ring member 91.
[0022] Furthermore, the stopper member 101 has a female screw portion 105 that is oriented toward the side of the rotary table 71 (left-right direction in Figure 3(a)). A set screw 107, which serves as a fixing member, is screwed into the female threaded portion 105 of the stopper member 101. The tip of the set screw 107 (left side in Figure 3(a)) is engaged with the groove 95 of the ring member 91. The stopper member 101 is fastened and fixed by the set screw 107. By loosening the set screw 107, the stopper member 101 can be moved along the inner circumferential surface of the ring member 91, thereby changing its position on the ring member 91. Furthermore, since the female threaded portion 105 is oriented in the lateral direction of the rotary table 71 (left and right direction in Figure 3(a)), the fastening and unfastening operations using the set screw 107 can be performed from the lateral direction of the rotary table 71.
[0023] The contact portion 73 of the rotary table 71 comes into contact with the stopper member 101. Therefore, the rotary table 71 can rotate within a range from the origin position shown in Figure 7(a) to the stop position shown in Figure 7(b) where the contact portion 73 and the stopper member 101 come into contact.
[0024] Next, the operation according to this first embodiment will be described. The motor 51 rotates the bevel gear shaft 45 via the pulley 47, belt 57, and pulley 55, and the rotation of the bevel gear shaft 45 rotates the rotating member 17, and consequently the rotary table 71.
[0025] The origin contact pin 33 of the rotating member 17 comes into contact with the origin setting stopper 31, thereby defining the origin position of the rotary table 71 shown in Figure 7(a). The rotary table 71 rotates from the origin position until the contact portion 73 of the rotary table 71 comes into contact with the stopper member 101 installed on the ring member 91. Furthermore, the contact portion 73 of the rotary table 71 comes into contact with the stopper member 101, thereby preventing backlash caused by the bevel gear shaft 45 and the bevel gear portion 27 of the lower element 21 of the rotating member 17, as well as looseness of the rotary table 71 due to the gaps between the bearings 7, 41, and 43. Furthermore, the rotary actuator 1 is a so-called electric rotary actuator, and the rotary table 71 can be stopped at any position between the origin position and the point where it contacts the stopper member 101.
[0026] The stopper member 101 is fixed in a predetermined position on the ring member 91 by engaging a set screw 107, which serves as a fixing member, with the groove 95 of the ring member 91. By loosening the set screw 107, the stopper member 101 can be moved along the inner surface of the ring member 91 to change its position on the ring member 91. This sets the rotation range of the rotary table 71.
[0027] Furthermore, by removing the set screw 107, the stopper member 101 is removed from the ring member 91. Since the female screw portion 105 of the stopper member 101 is oriented in the lateral direction (left-right direction in Figure 3(a)) of the rotary table 71, the fastening and unfastening operations using the set screw 107 are performed from the lateral direction of the rotary table 71. Furthermore, the ring member 91 is removed by removing the bolt 93.
[0028] Next, the effects of this first embodiment will be described. Since the stopper member 101 is installed, a simple configuration can prevent backlash caused by the bevel gear shaft 45 and the bevel gear portion 27 of the lower element 21 of the rotating member 17, as well as looseness and variations in the stopping position of the rotary table 71 due to the gaps between the bearings 7, 41, and 43. Since the female screw portion 105 of the stopper member 101 is oriented toward the side of the rotary table 71 (left-right direction in Figure 3(a)), the fastening and unfastening operations using the set screw 107 can be performed from the side of the rotary table 71. Therefore, the stopping position of the stopper member 101 can be easily set. Furthermore, since the stopper member 101 is detachably attached to the ring member 91, the stopper member 101 can be installed on the circumference of the outer side of the rotary table 71, and the stopper member 101 can be easily replaced.
[0029] Furthermore, a groove 95 is formed in the ring member 91, and the set screw 107 is engaged with the groove 95. By loosening the set screw 107, the stopper member 101 can be moved along the inner surface of the ring member 91, thereby changing its position on the ring member 91. This makes it easy to set the rotation range of the rotary table 71. Furthermore, the ring member 91 is detachable and can be easily replaced.
[0030] Next, a second embodiment of the present invention will be described with reference to Figure 8. The rotary actuator 201 according to this second embodiment has a configuration substantially the same as the rotary actuator 1 according to the first embodiment described above, but two stopper members 203 and 205 are detachably installed on the ring member 91.
[0031] In this second embodiment, the rotary table 71 can rotate within a range from the state in which the contact portion 73 of the rotary table 71, as shown in Figure 8(a), contacts the stopper member 203, to the state in which the contact portion 73 of the rotary table 71, as shown in Figure 8(b), contacts the stopper member 205. Furthermore, the positions of the stopper members 203 and 205 can be changed, and the rotation range of the rotary table 71 can be set between any two points. Furthermore, the rotary actuator 201 is a so-called electric rotary actuator, and the rotary table 71 can be stopped at any position between contact with the stopper member 203 and the stopper member 205. In addition, components common to this second embodiment and the first embodiment described above are denoted by the same reference numerals, and their descriptions are omitted.
[0032] It should be noted that the present invention is not limited to the first and second embodiments described above. It can also be applied to pneumatically driven rotary actuators. In addition to bevel gears with intersecting axes, this technology can also be applied to spur gears and other gears with parallel axes, as a means of transmitting power. The shape, material, size, and number of each component can vary considerably. Furthermore, the diagrammed configuration is merely an example. [Industrial applicability]
[0033] The present invention relates to a rotary actuator, and more particularly to one that can prevent rattling and variations in stopping position with a simple configuration, and that is designed to allow easy setting of the stopping position, and is suitable for industrial robots, for example. [Explanation of Symbols]
[0034] 1 Rotary Actuator 3 bases 27 Bevel gear section (gear) 51 Motor 45 Bevel gear shaft (gear) 71 Rotating Table 91 Ring member 101 Stopper member 107 Set screw (fixing component) 201 Rotary Actuator 203 Stopper component 205 Stopper component
Claims
1. Base and, A rotating table is mounted to protrude from the outside of the base mentioned above and is rotatable, A contact portion provided on the above-mentioned rotary table, A stopper member is provided protruding from the outside of the base and installed at any position on the outer circumference of the rotating table, and the contact portion of the stopper member defines the rotation range of the rotating table when it comes into contact with the base. It is equipped with, The stopper member described above is fixed by a fixing member. The above-mentioned fixing member can be operated from the side of the rotating table. The stopper member described above is installed on a ring member that is mounted on the outer circumference of the rotating table of the base, A rotary actuator characterized in that, when the fixing by the above-mentioned fixing member is released, the stopper member can slide along the ring member along the entire circumference of the ring member.
2. In the rotary actuator according to claim 1, A rotary actuator characterized in that the stopper member described above is detachable.
3. In the rotary actuator according to claim 1, A rotary actuator characterized by having multiple stopper members installed as described above.
4. In the rotary actuator according to claim 1, A rotary actuator characterized in that the above-mentioned ring member is detachable.
5. In the rotary actuator according to any one of claims 1 to 4, The rotary actuator is characterized in that the above-mentioned rotary table is driven by a motor via gears.