Sensor base, electric motor, and system

Abstract

This sensor base includes a sensor, a sensor mounting plate, an electric motor mounting plate to be mounted to the electric motor, a columnar portion connecting the sensor mounting plate and the electric motor mounting plate, and an adjustment tool fastened into a hole formed in the columnar portion in the axial direction. The distance between the sensor and the electric motor is adjusted by fastening or releasing the fastening of the adjustment tool with respect to the hole.

Description

Sensor base, motor and system

[0001] The present disclosure relates to a sensor base, an electric motor, and a system.

[0002] The sensor is positioned so as to face the outer peripheral surface of a sensor gear that is attached concentrically to the rotating shaft of an electric motor, for example, and thereby measures the rotation speed and / or rotation position of the rotating shaft. To perform accurate measurements, the sensor base equipped with the sensor is attached to the electric motor, and then the distance between the sensor and the sensor gear is adjusted to an appropriate value.

[0003] Patent Document 1 (Japanese Utility Model Application Publication No. 61-202012) discloses that after performing azimuth adjustment, "the gap adjustment with the object to be detected is performed using a gap adjustment nut 28."

[0004] Patent document 2 (Japanese Patent Publication No. 58-124913) discloses that "using a screw 34 biased by a spring 35, the sensor sleeve 30, and therefore the sensors 13, 13a, can be shifted radially relative to the toothed disc 10."

[0005] Utility Model Publication No. 61-202012 Japanese Patent Application Publication No. 58-124913

[0006] However, in Patent Document 1, the azimuth adjustment mechanism and the gap adjustment mechanism are mixed together, resulting in a complex overall configuration. Furthermore, in Patent Document 2, the screw 35 and the casing 31 into which the sensor sleeve is fitted are required, resulting in a complex overall configuration. Furthermore, an increase in the number of parts also poses the problem of increased weight. Furthermore, when adjusting the distance between the sensor and the sensor gear by simply converting the rotation of a screw or bolt into linear movement of the sensor, there is also the problem that fine position adjustment is difficult.

[0007] Therefore, there is a demand for a sensor base, a motor, and a system that can adjust the position of a sensor with a simpler configuration.

[0008] According to a first aspect of the present disclosure, there is provided a sensor stand comprising a sensor, a sensor mounting plate to which the sensor is attached, a motor mounting plate to be attached to an electric motor, a columnar portion connecting the sensor mounting plate and the motor mounting plate, and an adjustment tool that is screwed into a hole formed in the axial direction of the columnar portion, and the distance between the sensor and the electric motor is adjusted by screwing the adjustment tool into and out of the hole.

[0009] The objects, features, and advantages of the present disclosure will become more apparent from the following description of the embodiments taken in conjunction with the accompanying drawings.

[0010] 1A is a perspective view of a sensor base according to a first embodiment; FIG. 1B is a side view of the sensor base shown in FIG. 1A; FIG. 1C is a partial perspective view of an electric motor to which the sensor base is attached; FIG. 1D is another partial perspective view of an electric motor to which the sensor base is attached; FIG. 1E is a simulation diagram of the sensor base before and after tightening a bolt; FIG. 1F is a perspective view of the sensor base according to a second embodiment; FIG. 1G is a side view of the sensor base shown in FIG. 4A; FIG. 1H is a simulation diagram of the sensor base after tightening one bolt; FIG. 1J is a side view of the sensor base according to a third embodiment; FIG. 1J is a diagram illustrating a system according to the present disclosure; FIG. 1J is a flowchart illustrating the operation of the system shown in FIG. 7; FIG. 1J is a diagram illustrating the relationship between initial distance L0 and bolt B;

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Corresponding components are designated by common reference numerals throughout the drawings. Fig. 1A is a perspective view of a sensor base based on a first embodiment, and Fig. 1B is a side view of the sensor base shown in Fig. 1A. The sensor base 40 mainly includes a sensor S, a sensor mounting plate 41 to which the sensor S is attached, an electric motor mounting plate 42 to be attached to an electric motor (described later), and a columnar portion 43 connecting the sensor mounting plate 41 and the electric motor mounting plate 42.

[0012] 1B, a substrate 46 is attached to one surface of the sensor mounting plate 41 located distally from the motor mounting plate 42, and the sensor S is mounted on one surface of the substrate 41 distally from the motor mounting plate 42. Therefore, strictly speaking, the sensor S is attached to the sensor mounting plate 41 via the substrate 46. The sensor S is a sensor that can detect the distance L or a numerical value related to the distance L, which will be described later.

[0013] The sensor mounting plate 41 and the motor mounting plate 42 are preferably substantially parallel to each other, but may be disposed so that they form a predetermined acute angle.

[0014] The columnar portion 43 is, for example, cylindrical or prismatic. The central axis of the columnar portion 43 is preferably disposed substantially perpendicular to the sensor mounting plate 41 and the motor mounting plate 42. The sensor base 40, including the sensor mounting plate 41, the motor mounting plate 42, and the columnar portion 43, is preferably formed as an integral member. Typically, the sensor mounting plate 41, the motor mounting plate 42, and the columnar portion 43 are preferably formed integrally from hard resin or metal.

[0015] The columnar portion 43 has a hole 44 formed therein that extends along its central axis. The entrance of the hole 44 is formed on the motor mounting plate 42 side, and the hole 44 preferably terminates without penetrating the columnar portion 43 or the sensor mounting plate 41. An adjustment tool, for example, a bolt B, is threaded into the hole 44. For this purpose, the inner circumferential surface of the hole 44 is preferably formed with a thread corresponding to the bolt B. The outer diameter of the bolt B and the inner diameter of the hole 44 are approximately equal. Note that a screw may be used as the adjustment tool instead of the bolt B. Alternatively, a rod with a thread formed on its outer circumferential surface may be used as the adjustment tool. In the following, the explanation will be continued assuming that the adjustment tool is the bolt B.

[0016] The length of the bolt B is shorter than the axial length of the hole 44. Therefore, the tip of the bolt B (and the bolts B', Ba, and Bb as well) is not exposed on the outer surface of the sensor base 40. The bolt B is preferably made of metal.

[0017] 1A and 1B, an opening 47 is preferably formed in the motor mounting plate 42. The cable (not shown) of the sensor S extends through the opening 47 to the outside of the sensor base 40. This facilitates the routing of the sensor S. Therefore, the opening 47 serves as a passage for passing the signal line of the sensor S to the outside of the sensor base 40.

[0018] 2A and 2B are partial perspective views of an electric motor to which a sensor mount is attached. These drawings show the area around an output shaft 51 of an electric motor 50. The electric motor 50 has a typical structure including a stator (not shown) disposed in a housing 59 and a rotor (not shown) disposed in the stator.

[0019] A sensor gear 52 is attached to the output shaft 51, and the output shaft 51 and the sensor gear 52 rotate integrally with the rotor described above. As can be seen from Figures 2A and 2B, the sensor base 40 is fixed to the housing 59 by fasteners 57 such as screws passing through holes in the motor mounting plate 42. When the sensor base 40 is attached to the motor 50, the sensor S faces the outer peripheral surface of the sensor gear 52.

[0020] Next, the bolt B is screwed into the hole 44 and tightened with, for example, a predetermined torque T. Figure 3 is a simulation diagram of the sensor base before and after tightening the bolt. For the sake of simplicity, the bolt B and other parts are not shown in Figure 3.

[0021] The left side of Fig. 3 shows the sensor base 40 before the bolt B is tightened, and the right side of Fig. 3 shows the sensor base 40 after the bolt B has been tightened. As can be seen from Fig. 3, the sensor base 40 is elastically deformed by tightening the bolt B, so the height of the sensor base 40 in the axial direction of the columnar portion 43 is reduced by a distance D. Then, when the bolt B is untightened, the height of the sensor base 40 returns to its original state.

[0022] That is, when the bolt B is tightened, the amount of elastic deformation of the sensor base 40 increases, and the height of the sensor base 40 decreases, and when the bolt B is loosened, the amount of elastic deformation of the sensor base 40 decreases, and the height of the sensor base 40 increases. In other words, since the sensor base 40 elastically deforms, tightening the bolt B into the hole 44 lengthens the distance L between the sensor S and the sensor gear 52, and loosening the bolt B shortens the distance L between the sensor S and the sensor gear 52.

[0023] 3, the upper part of the motor mounting plate 42 is partially raised, but this raised portion is not actually formed because of the presence of the head of the bolt B. In other words, after the bolt B is tightened, the height of the sensor base becomes smaller as described above.

[0024] It is preferable to utilize this property of the sensor base 40 to set a predetermined torque T when tightening the bolt B. Specifically, the predetermined torque T is set in advance to a torque that allows for further elastic deformation of the sensor base 40 even if the bolt B is further tightened after being tightened to the predetermined torque T.

[0025] After tightening the bolt B with a predetermined torque T, the distance L between the sensor S and the sensor gear 52 or a value related to the distance L (hereinafter referred to as "distance L") is measured using the sensor S. If the distance L is equal to or less than a predetermined minimum value Lmin, the bolt B is removed, and a longer bolt B(i+1) is threaded into the hole 44 of the sensor base 40 and tightened with the predetermined torque T. If the distance L is equal to or greater than a predetermined maximum value Lmax, the bolt B is removed, and a shorter bolt B(i-1) is threaded into the hole 44 of the sensor base 40 and tightened with the predetermined torque T. The predetermined minimum value Lmin and the predetermined maximum value Lmax define an optimal range for the distance L, which are determined in advance through experiments or simulations. This ensures that the distance L falls within a predetermined range (Lmin<L<Lmax). When measuring the value related to the distance L using the sensor S, the distance L is also measured so that it falls within the optimal range of the predetermined minimum and maximum values ​​determined in advance through experiments or simulations, as described above.

[0026] Therefore, in the present disclosure, the sensor S can be easily positioned at an appropriate position relative to the sensor gear 52. Furthermore, in the present disclosure, the bolts B are used with a length such that the tips of the bolts B are not exposed on the outer surface of the sensor base 40. Therefore, even when the bolts B are tightened to the limit, the tips of the bolts B will not come into contact with the outer peripheral surface of the sensor gear 52 and damage the sensor gear 52.

[0027] Furthermore, in the present disclosure, the sensor base 40 is elastically deformed by the rotation of the bolt B, thereby adjusting the distance between the sensor S and the sensor gear 52 of the electric motor 50. Therefore, it will be understood that the position of the sensor S can be adjusted more precisely compared to the case where the distance between the sensor and the sensor gear is adjusted simply by converting the rotation of the bolt into linear movement of the sensor.

[0028] Furthermore, in this case, the sensor base 40 including the sensor mounting plate 41, the motor mounting plate 42, and the columnar portion 43 can be configured as an integrated member, thereby reducing the number of parts of the sensor base. As a result, the overall configuration of the sensor base 40 is simplified and its weight is reduced.

[0029] 2A and 2B, a connector 48 may be provided in the opening 47 of the sensor mounting plate 41. The connector 48 is, for example, a cylindrical body that is inserted into the opening 47 of the sensor mounting plate 41 so as to be spaced apart from the electric motor 50. The cable of the sensor S can be extended to the outside of the sensor base 40 through the opening 47 and the connector 48, achieving the same effect as described above. Therefore, in this case, the opening 47 and the connector 48 are a passage that allows the signal line of the sensor S to pass to the outside of the sensor base 40.

[0030] Fig. 4A is a perspective view of a sensor base according to the second embodiment, and Fig. 4B is a side view of the sensor base shown in Fig. 4A. In the sensor base 40a shown in these drawings, two holes 44a and 44b extending parallel to each other are formed in the columnar portion 43.

[0031] Bolts Ba and Bb are screwed into the two holes 44a and 44b, respectively. The holes 44a and 44b are formed in the same manner as the hole 44 described above, and the bolts Ba and Bb have the same configuration as the bolt B described above.

[0032] Fig. 5A is a simulation diagram of the sensor base after one bolt has been tightened, and Fig. 5B is a simulation diagram of the sensor base after the other bolt has been tightened. Note that the sensor base 40 before bolt B is tightened is the same as that shown on the left in Fig. 3. In these figures, bolts Ba, Bb, etc. are omitted from the illustration.

[0033] After the bolts Ba and Bb have been tightened into the holes 44a and 44b, respectively, with a predetermined torque T, tightening only the bolt Ba further reduces the height of the sensor base 40 in the vicinity of the bolt Ba, as shown in Fig. 5A. Similarly, tightening only the bolt Bb further reduces the height of the sensor base 40 in the vicinity of the bolt Bb, as shown in Fig. 5B.

[0034] In the second embodiment, the sensor S can be positioned using two bolts Ba and Bb, so that in addition to the distance L between the sensor S and the sensor gear 52, the inclination of the substrate 46 with respect to the tangent to the outer circumferential surface of the sensor gear 52 can also be adjusted. Therefore, even if the machining accuracy of the part of the motor 50 to which the sensor base 40 is attached and / or the part of the substrate 46 to which the sensor S is mounted is low, the sensor S can be appropriately positioned with respect to the sensor gear 52. Note that the present disclosure also includes cases where three or more holes are formed in the columnar portion 43 and bolts similar to those described above are threaded into each of the holes.

[0035] Fig. 6 is a side view of a sensor stand according to a third embodiment. In the sensor stand 40b shown in Fig. 6, in addition to the columnar portion 43 described above, a second columnar portion 43' connects the sensor mounting plate 41 and the motor mounting plate 42 to the columnar portion 43. A second hole 44' is formed in the second columnar portion 43', and the bolt B' is threaded into the second hole 44' as described above. The second hole 44' and the bolt B' have the same configuration as the hole 44 and the bolt B described above.

[0036] In this case, too, the sensor S can be positioned using two bolts B, B', so that, as in the second embodiment, in addition to the distance L between the sensor S and the sensor gear 52, the inclination of the substrate 46 with respect to the tangent to the outer peripheral surface of the sensor gear 52 can also be adjusted. Therefore, it will be understood that the same effect as described above can be obtained. Note that the scope of the present disclosure also includes a case where three or more similar columnar portions are formed between the sensor mounting plate 41 and the motor mounting plate 42, and bolts are similarly threaded into the holes in those portions.

[0037] Fig. 7 is a diagram showing a system according to the present disclosure. As shown in Fig. 7, the system 1 mainly includes a robot 10, a control device 20 that controls the robot 10, and a teaching pendant 30 that operates the robot 10 via the control device 20. However, if an operator operates the robot 10 via the control device 20, the system 1 does not need to include the teaching pendant 30. Note that the robot 10 and the control device 20, and the control device 20 and the teaching pendant 30 are connected by wire or wirelessly.

[0038] The robot 10 may be, for example, a vertical articulated robot with six degrees of freedom and equipped with multiple motors. In the robot 10 shown in Fig. 7, multiple arms 12 driven by multiple motors are arranged on a robot base 11 using a known method. The most distal arm is equipped with a wrist 13. The wrist 13 is equipped with a hand 14.

[0039] Although not shown in the drawings, each of the multiple motors is provided with a detection unit, such as an encoder, that detects the position and / or speed of the corresponding shaft. Similarly, although not shown in the drawings, each of the multiple motors may be provided with various sensors, such as a temperature sensor.

[0040] A storage unit 60 is arranged around the robot 10 to store a plurality of bolts B1 to Bn (n is a natural number). The bolts B1 to Bn have different shank lengths, with the length of the bolt increasing stepwise as the value of n increases. In the storage unit 60, the bolts B1 to Bn are placed in their respective unique positions. Position information for the bolts B1 to Bn is stored in a memory unit 29, which will be described later. To prevent the bolts B1 to Bn from moving within the storage unit 60, the storage unit 60 is preferably formed with a plurality of grooves that receive each of the bolts B1 to Bn.

[0041] The hand 14 of the robot 10 serves to grasp one of the plurality of bolts B1 to Bn from the storage section 60 and screw it into the hole 44. In other words, the hand 14 has a grasping function for grasping the bolt B and a rotating function for rotating the bolt B.

[0042] The robot 10 is controlled by a control device 20. As is well known, the control device 20 controls multiple motors using detection results from multiple detection units. The control device 20 is a computer including a CPU (Central Processing Unit), a storage unit 29, and the like, which are connected to each other via a bus.

[0043] 7 , the CPU of the control device 20 mainly includes a movement unit 21 that moves the robot 10 and a decision unit 22 that makes various decisions. Specifically, the CPU of the control device 20 includes the movement unit 21 that moves the robot 10 so as to remove a bolt Bi from the sensor base 40 attached to the electric motor 50 and place it in the storage unit 60, and to take other bolts B(i-1) and B(i+1) (where "i" is a natural number equal to or less than N) from the storage unit 60 and attach them to the sensor base 40. The decision unit 22 also includes the decision unit 22 that determines the other bolts B(i-1) and B(i+1) based on the distance between the sensor base 40 and the sensor gear 52 of the electric motor 50. The decision unit 22 also controls the sensor S of the sensor base 40 and stores its detection values ​​in the memory unit 29 as appropriate.

[0044] The teaching pendant 30 is also a computer and similarly includes a CPU, memory, etc. The teaching pendant 30 includes a display unit 31, such as a display, that displays various processes of the control device 20 and the teaching pendant 30. Furthermore, the teaching pendant 30 includes an input unit 32, such as a touch panel, that inputs various operations by the operator.

[0045] Instead of the CPU of the control device 20, the CPU of the teaching pendant 30 may have the movement unit 21 and the determination unit 22. Alternatively, the CPU of the control device 20 may have one of the movement unit 21 and the determination unit 22, and the CPU of the teaching pendant 30 may have the other of the movement unit 21 and the determination unit 22.

[0046] The movement unit 21 and the determination unit 22 of the CPU of the control device 20 and / or the teaching pendant 30 are functional modules realized by, for example, a computer program executed on the CPU. The computer program for executing the processes of the movement unit 21 and the determination unit 22 of the CPU of the control device 20 and / or the teaching pendant 30 may be provided in a form recorded on a computer-readable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium.

[0047] The control device 20 may also be connected to a display unit, such as a display, CRT, etc., that displays various computer processes. Furthermore, the control device 20 may also be connected to an input unit, such as a mouse and keyboard, that inputs various operations by the operator.

[0048] Fig. 8 is a flowchart showing the operation of the system shown in Fig. 7. The operation of the system 1 will be described below with reference to Fig. 8. A signal line extending from the sensor S of the sensor stand 40 is connected to the control device 20, and the sensor S performs a detection operation in response to an instruction from the determination unit 22, and the detection result is supplied to the control device 20 via the signal line. The same applies when the sensor S of the sensor stand 40 and the control device 20 are wirelessly connected.

[0049] First, in step S11, the robot 10 fixes the sensor base 40 to the electric motor 50 using the moving unit 21 as described above. Then, the robot 10 fixes the sensor base 40 to the housing 59 of the electric motor 50 using fasteners 57 such as screws using the moving unit 21. For this purpose, a receiving portion 57a ​​for the fasteners 57 may be arranged around the robot 10.

[0050] In other words, the robot 10 uses the moving unit 21 to remove the fastener 57 from the storage unit 57a, pass it through the hole in the sensor base 40, and fasten it to the housing 59 of the electric motor 50 with a specific torque. By repeating this operation multiple times, the sensor base 40 is fixed to the electric motor 50. It is assumed that multiple fasteners 57 are aligned in the same direction within the storage unit 57a.

[0051] Next, in step S12, the determination unit 22 causes the sensor S to measure the initial distance L0 between the sensor S and the sensor gear 52 in a state in which the bolt B is not threaded into the hole 44. Then, in step S13, the determination unit 22 determines the length of the bolt B based on the initial distance L0 and the table.

[0052] 9 is a diagram showing the relationship between the initial distance L0 and the bolt B. In the table shown in Fig. 9, initial distances L01 to L0n (n is a natural number) having different numerical values ​​are associated with bolts B1 to Bn (n is a natural number) having optimal lengths corresponding to the initial distances L01 to L0n, respectively. This relationship between the initial distance L0 and the length of the bolt B is obtained through experiments and simulations and is stored in advance in the storage unit 29.

[0053] Once the determination unit 22 has determined the bolt Bi (i is a natural number equal to or less than n) of the optimum length, in step S14, the moving unit 21 causes the hand 14 to select and grasp the bolt Bi from the storage unit 60, move it to the sensor base 40, and screw it into the hole 44 of the sensor base 40. For this purpose, it is preferable that the hand 14 grasp the head of the bolt Bi. Furthermore, in step S15, the moving unit 21 causes the hand 14 to tighten the bolt Bi into the hole 44 with a predetermined torque T.

[0054] Next, in step S16, the distance L between the sensor S and the sensor gear 52 after the bolt B is threaded into the hole 44 is measured using the sensor S. Then, in step S17, it is determined whether the distance L falls within a predetermined range (Lmin<L<Lmax).

[0055] If the distance L is equal to or less than a predetermined minimum value Lmin, the robot 10 uses the moving unit 21 to remove the bolt Bi from the sensor stand 40 and place it in the storage unit 60. Then, the robot 10 uses the moving unit 21 to remove another bolt B(i+1) from the storage unit 60, carry it to the electric motor 50, screw it into the hole 44 of the sensor stand 40, and tighten it with a predetermined torque T (step S18). Similarly, if the distance L is equal to or greater than a predetermined maximum value Lmax, the robot 10 uses the moving unit 21 to remove the bolt Bi from the sensor stand 40 and place it in the storage unit 60. Then, the robot 10 uses the moving unit 21 to remove another bolt B(i-1) from the storage unit 60, carry it to the electric motor 50, screw it into the hole 44 of the sensor stand 40, and tighten it with a predetermined torque T (step S19).

[0056] Thereafter, the process returns to step S16, where the bolts are replaced with other bolts B(i-1) and B(i+1), and the distance L is measured again. In this manner, the process is repeated until the distance L falls within a predetermined range (Lmin<L<Lmax).

[0057] In this way, the system 1 can perform the tasks of attaching and fixing the sensor base 40 to the electric motor 50, selecting bolts Bi of optimal length, and positioning the sensor S using the bolts Bi. In other words, the system 1 can automatically perform the above three tasks.

[0058] As an effect of at least one of the embodiments described above, it is possible to provide a sensor base that allows adjustment of the position of a sensor with a simpler configuration.

[0059] Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible to these embodiments without departing from the gist of the invention or the concept and spirit of the present invention derived from the content of the claims and their equivalents. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical formulas are used in the description of the above-described embodiments. Furthermore, appropriate combinations of several of the above-described embodiments are within the scope of the present disclosure.

[0060] The following supplementary notes are further disclosed regarding the above embodiments and variations. (Supplementary Note 1) A sensor mount comprising: a sensor; a sensor mounting plate to which the sensor is attached; an electric motor mounting plate to be attached to an electric motor; a columnar portion connecting the sensor mounting plate and the electric motor mounting plate; and an adjuster that is fastened into a hole formed in the columnar portion, wherein the distance between the sensor and the electric motor is adjusted by fastening and unfastening the adjuster into the hole. (Supplementary Note 2) The sensor mount according to Supplementary Note 1, further comprising one or more additional holes formed therein and an additional adjuster that is fastened into the one or more additional holes. (Supplementary Note 3) The sensor mount according to Supplementary Note 1, further comprising a passage that passes through the electric motor mounting plate, allowing a signal line extending from the sensor to pass to the outside of the sensor mount. (Supplementary Note 4) The sensor stand described in Supplementary Note 1, further comprising: a second pillar portion connecting the sensor mounting plate and the electric motor mounting plate to the pillar portion; and a second adjustment tool tightened into a second hole formed in the second pillar portion. (Supplementary Note 5) An electric motor to which the sensor stand described in Supplementary Note 1 is attached. (Supplementary Note 6) A system comprising: a robot; and a control device for controlling the robot, the control device including a movement unit, the movement unit moving the robot so as to remove the adjustment tool of the sensor stand attached to the electric motor described in Supplementary Note 7 from the sensor stand and place it in a storage unit, and to remove another adjustment tool from the storage unit and attach it to the sensor stand. (Supplementary Note 7) The system described in Supplementary Note 6, wherein the control device further includes a determination unit, the determination unit determining the other adjustment tool based on the distance between the sensor stand and a sensor gear of the electric motor.

[0061] REFERENCE SIGNS LIST 1 System 10 Robot 12 Arm 13 Wrist 14 Hand 20 Control device 21 Moving unit 22 Determination unit 29 Memory unit 30 Teaching operation panel 31 Display unit 32 Input unit 40, 40a, 40b Sensor stand 41 Sensor mounting plate 42 Motor mounting plate 43, 43' Column-shaped portion 44, 44', 44a, 44b Hole 46 Board 47 Opening (passing portion) 48 Connector (passing portion) 50 Motor 52 Sensor gear 57 Fastener 57a Storage portion 60 Storage portion B, B', Ba, Bb Bolt (adjustment tool) S Sensor

Claims

1. A sensor base comprising a sensor, a sensor mounting plate to which the sensor is attached, a motor mounting plate to be attached to a motor, a columnar portion connecting the sensor mounting plate and the motor mounting plate, and an adjuster to be tightened into a hole formed in the columnar portion, wherein the distance between the sensor and the motor is adjusted by tightening and loosening the adjuster with respect to the hole.

2. The sensor base according to claim 1, further comprising one or more additional holes and additional adjusters to be tightened into the one or more additional holes.

3. The sensor base according to claim 1, wherein a passage portion for passing a signal line extending from the sensor to the outside of the sensor base penetrates the motor mounting plate.

4. The sensor base according to claim 1, further comprising a second columnar portion connecting the sensor mounting plate and the motor mounting plate and opposite to the columnar portion, and a second adjuster to be tightened into a second hole formed in the second columnar portion.

5. A motor to which the sensor base according to claim 1 is attached.

6. A system comprising a robot and a control device for controlling the robot, wherein the control device includes a moving portion, and the moving portion moves the robot so as to remove the adjuster of the sensor base attached to the motor according to claim 7 from the sensor base and place it on a storage portion, and to take out another adjuster from the storage portion and attach it to the sensor base.

7. The system according to claim 6, wherein the control device further includes a determination portion, and the determination portion determines the other adjuster based on the distance between the sensor base and a sensor gear of the motor.

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