Drive unit and robot equipped with drive unit

Abstract

This drive device comprises: an electric motor unit including an electric motor; and an electric motor control unit for supplying current to the electric motor. The electric motor control unit includes a plurality of electric components fixed to a substrate. The substrate is disposed so as to intersect with a direction in which the rotating shaft of the electric motor extends. The plurality of electric components include a specific electric component installed upright from the substrate and having a longitudinal direction. The specific electric component is fixed in a direction in which the specific electric component projects from the substrate toward the inside of the drive device. The specific electric component is disposed outside the electric motor unit in the radial direction.

Claims

1. An electric motor unit including an electric motor, It comprises a motor control unit that supplies current to the electric motor, The motor control unit includes a plate-shaped substrate and a plurality of electrical components fixed to the substrate. The aforementioned substrate is arranged so as to intersect the direction in which the rotation shaft of the electric motor extends. The multiple electrical components include specific electrical components having a longitudinal direction that are erected from the substrate, The aforementioned specific electrical component is fixed in a manner that protrudes from the substrate toward the inside of the drive unit, and is positioned radially outward from the motor unit. The electric motor unit includes at least one of the following devices: a reduction gear, a brake, and a rotational position detector. A drive unit in which at least one device is positioned alongside the motor in a direction along the motor's rotation axis and is located inside the specified electrical component in the radial direction.

2. The drive device according to claim 1, wherein the specified electrical component includes at least one member from among a capacitor, a power element, and a connector for connecting a wire to the substrate.

3. The drive device according to claim 1 or 2, wherein the specified electrical component includes at least one connector from among a connector into which power from a power source is input, a connector into which operation commands for an electric motor are input, a connector into which sensor information is input, a connector for supplying power to an electric motor, and a connector for supplying power to a brake.

4. The drive device according to claim 1, It comprises a joint that allows one component to rotate another component, The drive device is located at the joint of the robot.

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