JP2014238117A - Speed reducer-incorporated actuator and articulated robot with the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a speed reducer-incorporated actuator capable of preventing a deterioration in rotation control performance, and an articulated robot with the same.SOLUTION: A speed reducer-incorporated actuator includes: a stator 111 which generates a revolving magnetic field around an axis of rotation in a housing 130; a rigid internal gear 121 which has internal teeth at the inner periphery and is arranged coaxially with the axis of rotation; a flexible external gear 122 which has a smaller number of external teeth than that of the internal teeth of the rigid internal gear 121 at the outer periphery and whose external teeth can engage with the internal teeth of the rigid internal gear 121 on the inner peripheral side of the rigid internal gear 121; an elliptic cam part 124 which abuts on the inner peripheral part of the flexible external gear 122 to cause the internal teeth to engage with external teeth; and a rotor part 125 which rotates on the axis of rotation integrally with the cam part 124 by the revolving magnetic field generated by the stator 111. The speed reducer-incorporated actuator further includes a wave motion generating rotor 123 which is rotatably supported by a housing 130 coaxially with the axis of rotation.

Description

  The present invention relates to an actuator incorporating a wave gear device and an articulated robot including the actuator.

  Conventionally, actuators used to drive robot arm links, hands, etc. use AC servo motors or DC brushless servo motors. To obtain high output torque, a wave gear device is provided on the output side of the servo motor, and driven. Often connected to the body. The position control of the robot arm tip is performed by detecting the angle of the servo motor with a rotary encoder directly connected to the motor shaft of the servo motor.

  However, in recent years, high accuracy, high speed, and high output have been demanded as functions necessary for the robot arm, which occurs due to insufficient torque acting on the rotating shaft of the wave gear device and insufficient rigidity of the internal mechanism of the wave gear device. The bending deformation and rattling that are becoming more difficult to ignore. In this case, even if the rotation shaft is set to the target angle command value, the rotation shaft of the wave gear device may be twisted in the rotation direction due to the torque acting on the rotation shaft of the wave gear device. Therefore, in the robot arm, it is difficult to improve the operation accuracy such as straightness, and the settling time becomes longer due to the vibration caused by the torsion of the wave gear device, and the time until the robot arm starts to work becomes longer. There was a problem.

  For this, an actuator that detects torsion and backlash of the wave gear device by providing an encoder on the motor shaft and the output shaft of the wave gear device to reduce torsional vibration and reduce the error of the tip position of the robot arm. Has been proposed (see Patent Document 1).

JP 2006-50710 A

  However, when the torsion control of the wave gear device is performed by the output shaft encoder, the actuator described in Patent Document 1 has a plurality of resonance points due to torsion because the rigidity of the motor shaft is small. Performance may be degraded. This is because the rigidity of the motor shaft is not sufficiently large relative to the rigidity of the external gear of the wave gear device because it is directly connected to the wave generator of the wave gear device only by the motor shaft.

  Therefore, the motor shaft resonates at a frequency close to the resonance frequency of the external gear, and the motor band resonance point is included in the control band in which the torsion control of the wave gear device is performed. As a result, the motor shaft must be controlled at a frequency close to the resonance frequency of the motor shaft, and the motor shaft may be twisted. That is, with this conventional configuration, there is a problem that the torsion control of the wave gear device becomes difficult due to the torsion of the motor shaft, and the control performance of the robot arm deteriorates.

  Therefore, an object of the present invention is to provide an actuator with a built-in reducer that can prevent a decrease in rotation control performance and an articulated robot including the same.

  The present invention relates to a reduction gear built-in actuator, a stator that generates a rotating magnetic field around a rotation axis inside a support member, an internal gear that has internal teeth on the inner periphery and is arranged coaxially with the rotation axis. And the outer periphery has fewer external teeth than the internal teeth of the internal gear, and on the inner peripheral side of the internal gear, the external teeth can mesh with the internal teeth of the internal gear. An external cam gear, an elliptical cam portion that abuts the inner peripheral portion of the flexible external gear and meshes the inner teeth with the outer teeth, and a rotating magnetic field generated by the stator. A wave generating rotor that has a rotor portion that rotates integrally with the cam portion around the rotation shaft, and is rotatably supported by the support member coaxially with the rotation shaft. It is characterized by.

  The present invention also provides a reduction gear built-in actuator, a stator that is attached to a support member and generates a rotating magnetic field around the rotating shaft, and a rotor that rotates around the rotating shaft by the rotating magnetic field generated by the stator; An internal gear having internal teeth on the inner circumference and coaxially arranged with the rotation shaft; and an outer circumference having fewer external teeth than the internal teeth of the internal gear on the outer circumference; On the peripheral side, the external teeth are supported so as to be able to mesh with the internal teeth of the internal gear, and are rotatably supported on the same axis as the rotation shaft. A wave generator that abuts an inner peripheral portion and meshes the inner teeth with the outer teeth, and is joined so that the rotor and the wave generator are integrated.

  ADVANTAGE OF THE INVENTION According to this invention, the reduction gear built-in actuator which can prevent the fall of rotation control performance, and an articulated robot provided with the same can be provided.

1 is a side view schematically showing an articulated robot according to a first embodiment of the present invention. It is sectional drawing which shows typically the actuator with a reduction gear which concerns on 1st Embodiment. It is sectional drawing which shows typically the actuator with a reduction gear which concerns on 2nd Embodiment. It is sectional drawing which shows typically the actuator with a reduction gear which concerns on 3rd Embodiment. It is sectional drawing which shows typically the actuator with a reduction gear which concerns on 4th Embodiment.

  An articulated robot according to an embodiment of the present invention will be described with reference to FIGS. The multi-joint robot according to the present embodiment is a multi-joint robot using a reduction gear built-in actuator with a built-in wave gear device (reduction gear) for each joint. Hereinafter, a detailed description will be given using the first to fourth embodiments.

<First Embodiment>
An articulated robot 10 according to a first embodiment of the present invention will be described with reference to FIGS. 1 and 2. First, the overall configuration of the articulated robot 10 will be described with reference to FIG. FIG. 1 is a side view schematically showing an articulated robot 10 according to the first embodiment of the present invention.

  As shown in FIG. 1, the articulated robot 10 can detect a 6-axis articulated robot arm 11, a hand (end effector) 12 connected to the tip of the robot arm 11, and a force acting on the hand 12. A force detection sensor (not shown).

  The robot arm 11 includes first to sixth links 21, 22, 23, 24, 25, and 26, and first to sixth joint units 31 and 32 that rotationally drive the first to sixth links 21 to 26 and the hand 12. , 33, 34, 35, 36. The 1st-6th joint units 31-36 are equipped with the reducer built-in actuator mentioned below, and the 1st-6th links 21-26 move by carrying out drive control of the reducer built-in actuator. That is, the robot arm 11 selectively drives the speed reducer built-in actuators of the first to sixth joint units 31 to 36 to move the first to sixth links 21 to 26, so that the hand 12 can move to any 3 Move to the dimension position. The reduction gear built-in actuator will be described in detail later.

  The hand 12 includes a plurality of fingers 41 and 42 that can grip a workpiece and an actuator (not shown) that drives the plurality of fingers 41 and 42, and drives the plurality of fingers 41 and 42 independently. Thus, the workpiece can be gripped. The force detection sensor detects a force and a moment acting on the hand 12 when the hand 12 grips a workpiece with the plurality of fingers 41 and 42.

  Next, a reduction gear built-in actuator (inner rotor type brushless motor) included in the first to sixth joint units 31 to 36 will be described with reference to FIG. In addition, since the actuators with a built-in reducer included in the first to sixth joint units 31 to 36 have the same configuration, the fourth joint unit 34 between the fourth link 24 and the fifth link 25 (see FIG. 1). ) Will be described using the actuator 100 with a built-in speed reducer. FIG. 2 is a cross-sectional view schematically showing the reducer built-in actuator 100 according to the first embodiment.

  As shown in FIG. 2, the actuator 100 with a built-in reduction gear includes a housing 130, a motor shaft (shaft) 110, a stator 111, a wave gear device 120, a first encoder (first sensor) 140, and a second encoder. (Second sensor) 150.

  The housing 130 is fixed to the fourth link 24. The motor shaft 110 is connected to a rotor portion 125 of a wave generation rotor 123 described later, and is rotatably supported by the housing 130 via a bearing 132 inside the housing 130. The stator 111 includes a core 112 disposed opposite to a rotor portion 125 described later, and a coil 113 that generates a rotating magnetic field in the core 112 inside the housing 130, and is attached to the inside of the housing 130. .

  The wave gear device 120 includes a ring-shaped rigid internal gear (internal gear) 121 having internal teeth on the inner periphery and a cup-shaped adjustable gear having external teeth that can mesh with the internal teeth of the rigid internal gear 121 on the outer periphery. A flexible external gear 122. The wave gear device 120 is connected to be integrated with at least a part of the motor shaft 110 (covers at least a part of the motor shaft 110), and generates a wave on the inner peripheral side of the flexible external gear 122. A wave generating rotor 123 is provided.

  The rigid internal gear 121 is fixed to the fourth link 24 coaxially with the motor shaft 110. The flexible external gear 122 is mounted on the inner peripheral side of the rigid internal gear 121, and the external teeth of the flexible external gear 122 are fewer than the internal teeth of the rigid internal gear 121. . The flexible external gear 122 is connected to the fifth link 25. The wave generating rotor 123 is centered on the motor shaft (rotating shaft) 110 by an elliptical cam portion 124 that can be in contact with the inner peripheral portion of the flexible external gear 122 and a rotating magnetic field generated by the stator 111. And a rotor portion 125 that rotates integrally with the cam portion 124. The cam portion 124 has a function corresponding to a wave generator in the wave gear device, and abuts on the inner peripheral portion of the flexible external gear 122 to mesh the inner teeth and the outer teeth. The rotor part 125 has a function corresponding to a rotor having a permanent magnet of a motor, and is rotatably supported by the housing 130 via a bearing 131.

  In this embodiment, the cup-type flexible external gear 122 will be described. However, the flexible external gear may be a top hat type or a pancake type.

  The first encoder 140 includes a rotating disk 141 connected to the motor shaft 110, a fixed slit 142 disposed opposite to the rotating disk 141, a light emitting element 143, and a light receiving element 144, and the motor shaft (input) The rotation angle of the (axis) 110 is detected. For example, when light from the light emitting element 143 is projected onto the rotating disk 141, the light receiving element 144 repeats light reception and non-light reception through the fixed slit 142, and turns on / off electrical signals ( Rotation position) is detected. When an electrical signal is detected, an arithmetic circuit (not shown) calculates the rotation angle.

  The second encoder 150 includes a rotating disk 151 connected to the fifth link 25, a fixed slit 152 disposed opposite to the rotating disk 151, a light emitting element 153, and a light receiving element 154, and the fifth link. The rotation angle of (output shaft of driven body) 25 is detected. For example, when light from the light emitting element 153 is projected onto the rotating disk 151, the light receiving element 154 repeats light reception and non-light reception through the fixed slit 152, and the light reception and non-light reception are turned on and off as electrical signals. To detect. When an electrical signal is detected, an arithmetic circuit (not shown) calculates the rotation angle. The fifth link 25 is rotatably supported by the fourth link 24 by a cross roller bearing 133.

  Next, the operation of the reduction gear built-in actuator 100 configured as described above will be described. When a driving circuit (not shown) energizes the coil 113, a driving torque is generated in the rotor portion 125 by the rotating magnetic field generated by the core 112, and the wave generating rotor 123 rotates at a high speed by the driving torque. As a result, the cam portion 124 is rotated, and the flexible external gear 122 is bent into an elliptical shape through the bearing by the rotation of the cam portion 124, and the rigid internal gear 121 is Engage. At this time, relative rotation due to the difference in the number of teeth occurs between the flexible external gear 122 and the rigid internal gear 121, and the rotational force decelerated from the flexible external gear 122 is the fifth link ( The output is transmitted to the output shaft 25 of the driven body and output.

  As described above, the articulated robot 10 according to the first embodiment includes the actuator 100 with a built-in reducer. The reduction gear built-in actuator 100 includes a wave generating rotor 123 having a cam portion 124 having a function corresponding to a wave generator in a wave gear device and a rotor portion 125 having a function corresponding to a rotor of a motor. ing. In other words, the wave generating rotor 123 includes a rotor of a conventional motor and a wave generator of the wave generating device as a single member, and at least the motor shaft 110 is integrated with at least a part of the motor shaft 110. A part is covered.

  Therefore, the rigidity of the motor shaft (rotor) can be improved as compared with the conventional actuator with a built-in reducer in which only the motor shaft is connected to the wave generator. Thereby, the twist of a motor shaft (rotor) can be reduced. Specifically, in the control band in which the torsion control is performed, the resonance point due to the torsion can be made one, and the rotation control performance can be prevented from being lowered. As a result, the robot arm can be controlled with high accuracy.

  Hereinafter, specific numerical values will be shown and described. Here, it is premised on using 25 type | mold which is a general specification of a wave gear apparatus. For example, in the 25-type wave gear device, since the length of the ellipse of the cam portion 124 of the wave generating rotor 123 is 66 mm, the diameter of the rotor portion 125 is 66 mm at the maximum. Further, since the diameter of the shift hole of the wave generating rotor 123 is 26 mm, the diameter of the motor shaft 110 is 26 mm at the maximum. Since the diameter of the rotor is generally at least twice the diameter of the motor shaft, the diameter of the rotor portion 125 is 66 mm and the diameter of the motor shaft 110 is 26 mm.

  Since the rigidity is proportional to the cube of the diameter, the rigidity of the motor shaft 110 is obtained by connecting the wave generating rotor 123 in which the wave generator and the rotor are integrated to the motor shaft 110 so as to cover the motor shaft 110. About 16.4 times.

Second Embodiment
Next, an articulated robot 10A according to a second embodiment of the present invention will be described with reference to FIG. The articulated robot 10A according to the second embodiment is different from the first embodiment in the shape of the wave generating rotor of the wave gear device of the speed reducer built-in actuator. Therefore, in the second embodiment, the wave generating rotor 123A of the wave gear device 120A of the reduction gear built-in actuator (cup-shaped inner rotor type brushless motor) 100A will be described, and description of other configurations will be omitted. FIG. 3 is a cross-sectional view schematically showing a reduction gear built-in actuator 100A according to the second embodiment.

  As shown in FIG. 3, the wave generating rotor 123 </ b> A includes an elliptical cam portion 126 that abuts on the inner peripheral portion of the flexible external gear 122, and a cam portion 126 centered on a motor shaft (rotating shaft) 110. And a cylindrical rotor portion 127 that rotates integrally. A motor shaft 110 is connected to the cam portion 126, and the rotor portion 127 is rotatably supported on the housing 130 </ b> A by bearings 134 and 135 on the inner peripheral surface side. As described above, the wave generating rotor 123 </ b> A according to the second embodiment is formed in a so-called cup shape, and the stator 111 is disposed on the outer peripheral surface side of the rotor portion 127.

  Here, normally, in a brushless motor, the life of the motor (actuator) is determined by the durable life of the bearing supporting the motor shaft. Therefore, in the first embodiment, if the bearing is increased in size in order to improve the durability of the motor, the radial direction and the axial direction of the motor must be increased, and the motor is increased in size.

  On the other hand, bearings can be enlarged in the radial direction and the axial direction of the motor by making the wave generating rotor 123A into a cup shape as in the second embodiment. Thereby, in addition to improving the rigidity of the motor shaft 110, durability can be improved, without the reduction gear built-in actuator 100A becoming large.

  As described above, in the second embodiment, by using the cup-shaped wave generating rotor 123A, in addition to improving the rigidity of the motor shaft 110, the durability of the actuator 100A with a built-in reducer is improved. be able to.

  Hereinafter, specific numerical values will be shown and described. Here, 25 type, which is a general standard of wave gear device, is used, the durability life of the bearing is proportional to the cube of the dynamic load rating of the bearing, and the ball diameter of the bearing is proportional to the dynamic load rating. Assuming Further, the clearance of each component is 2 mm, the thickness of the housing 130A, and the thickness of the rotor portion 127 of the wave generating rotor 123A is 5 mm.

  As in the first embodiment, in the rotor portion 125 of the wave generating rotor 123 that is not cup-shaped, since the bearing 132 is disposed between the rotating disk 141 and the rotor portion 125 (see FIG. 2), the ball diameter is The maximum is 5 mm. On the other hand, in the cup-shaped wave generating rotor 123A, since the bearings 134 and 135 can be disposed inside the rotor portion 127, the ball diameter can be increased to a maximum of 8 mm. Thus, by using the cup-shaped wave generating rotor 123A, the diameters of the bearings 134 and 135 can be increased from 5 mm to 8 mm, and the durability life of the actuator 100A with a built-in reduction gear is improved by about 4.1 times. be able to.

<Third Embodiment>
Next, an articulated robot 10B according to a third embodiment of the present invention will be described with reference to FIG. An articulated robot 10B according to the third embodiment is different from the second embodiment in the arrangement of the stators of the actuators with built-in reducers. Therefore, in the third embodiment, the arrangement configuration of the stator 111B of the reduction gear built-in actuator (cup-shaped outer rotor type brushless motor) 100B will be described, and description of other configurations will be omitted. FIG. 4 is a cross-sectional view schematically showing a reduction gear built-in actuator 100B according to the third embodiment.

  As shown in FIG. 4, the stator 111B is disposed inside the rotor portion 127 of the wave generating rotor 123A. At this time, the wave generating rotor 123 </ b> A is rotatable by the motor shaft 110 connected to the cam portion 126 being supported by the housing 130 </ b> A via the bearings 136 and 137.

  Here, since the size of the motor torque and the motor inertia is proportional to the diameter of the rotor, when the rotor diameter is the same, the outer rotor type can downsize the motor unit more than the inner rotor type. Therefore, in the third embodiment, the stator 111B is arranged inside the rotor portion 127. Here, the motor unit includes the housing 130, the motor shaft 110, the stator 111, and the rotor unit 127 of the wave generating rotor 123A.

  As described above, in the third embodiment, by making the stator 111B an outer rotor type, in addition to improving the rigidity of the motor shaft 110, the reduction gear built-in actuator 100B can be downsized.

  Hereinafter, specific numerical values will be shown and described. Here, it is assumed that the 25 type, which is a general standard for wave gear devices, is used, and that the motor torque is proportional to the diameter of the rotor portion, so that the diameter of the rotor portion is the same. For example, in the 25-type wave gear device, since the length of the ellipse of the cam portion 126 of the wave generating rotor 123A is 66 mm, the diameter of the rotor portion 127 is 66 mm and the length in the axial direction is 40 mm. To do.

Further, for the inner rotor type core 112 as in the second embodiment, since the diameter of the rotor portion 127 needs to be smaller than the inner diameter of the core 112, the inner diameter of the core 112 is 70 mm and the outer diameter of the core is 80 mm. To do. In this case, the volume of the inner rotor type motor unit shown in FIG. 3 is about 200960 mm ³ , and the volume of the outer rotor type motor unit shown in FIG. 4 is about 136778 mm ³ . Therefore, the outer rotor type can reduce the size of the motor unit by about 0.68 times the volume ratio.

<Fourth embodiment>
Next, an articulated robot 10C according to a fourth embodiment of the present invention will be described with reference to FIG. The articulated robot 10C according to the fourth embodiment is different from the first embodiment in the configuration of the actuator with a built-in reducer. Therefore, in 4th Embodiment, the reduction gear built-in actuator 100C is demonstrated and description is abbreviate | omitted about another structure. FIG. 5 is a cross-sectional view schematically showing a reduction gear built-in actuator 100C according to the fourth embodiment.

  As shown in FIG. 5, the reduction gear built-in actuator 100C includes a housing 130, a motor shaft (shaft) 110, a stator 111, a rotor 114, and a wave gear device 120C. The reduction gear built-in actuator 100 </ b> C includes a first encoder (first sensor) 140 and a second encoder (second sensor) 150.

  The housing (support member) 130 is fixed to the fourth link 24. The motor shaft 110 is connected to a wave generator 128 described later, and is rotatably supported by the housing 130 via a bearing 139 inside the housing 130. The stator 111 includes a core 112 disposed to face the rotor 114 and a coil 113 that generates a rotating magnetic field in the core 112 inside the housing 130, and is attached to the inside of the housing 130.

  The rotor 114 is attached to the motor shaft 110 and joined to a wave generator 128 described later together with the motor shaft 110. In the present embodiment, the rotor 114 is directly joined to the wave generator 128 by a screw (not shown). In addition, as a connection aspect of the rotor 114 and the wave generator 128, adhesion | attachment, sintering, etc. can be illustrated other than screwing. The rotor 114 is rotatably supported by the housing 130 via a bearing 138 inside the housing 130.

  The wave gear device 120C includes an annular rigid internal gear 121 having internal teeth on the inner periphery, and a cup-shaped flexible external gear having external teeth that can mesh with the internal teeth of the rigid internal gear 121 on the outer periphery. 122 and a wave generator 128 that generates a wave on the inner peripheral side of the flexible external gear 122.

  The rigid internal gear 121 is fixed to the fourth link 24 coaxially with the motor shaft 110. The flexible external gear 122 is mounted on the inner peripheral side of the rigid internal gear 121, and the external teeth of the flexible external gear 122 are fewer than the internal teeth of the rigid internal gear 121. . The flexible external gear 122 is connected to the fifth link 25. The wave generator 128 is formed in an elliptical shape capable of contacting the inner peripheral portion of the flexible external gear 122, and is in contact with the inner peripheral portion of the flexible external gear 122, The external teeth of the tooth gear 122 and the internal teeth of the rigid internal gear 121 are meshed.

  In this embodiment, the cup-type flexible external gear 122 will be described. However, the flexible external gear may be a top hat type or a pancake type. In addition, the first encoder 140 and the second encoder 150 have the same configuration as that of the first embodiment, and thus description thereof is omitted.

  Next, the operation of the reduction gear built-in actuator 100 configured as described above will be described. When a drive circuit (not shown) energizes the coil 113, a drive torque is generated in the rotor 114 by the rotating magnetic field generated by the core 112, and the wave generator 128 joined to the rotor 114 rotates at a high speed. By rotating the wave generator 128, the flexible external gear 122 is bent into an ellipse shape through a bearing, and meshes with the rigid internal gear 121 at both end positions in the major axis direction of the ellipse. At this time, relative rotation due to the difference in the number of teeth occurs between the flexible external gear 122 and the rigid internal gear 121, and the rotational force decelerated from the flexible external gear 122 is the fifth link ( The output is transmitted to the output shaft 25 of the driven body and output.

  As described above, the articulated robot 10C according to the fourth embodiment includes the reduction gear built-in actuator 100C. Further, in the actuator 100C with a built-in reduction gear, the rotor 114 and the wave generator 128 are directly joined. Therefore, the rigidity of the motor shaft (rotor) can be improved as compared with the conventional actuator with a built-in reducer in which only the motor shaft is connected to the wave generator. Thereby, the twist of a motor shaft (rotor) can be reduced. Specifically, in the control band in which the torsion control is performed, the resonance point due to the torsion can be made one, and the rotation control performance can be prevented from being lowered. As a result, the robot arm can be controlled with high accuracy.

  In the reduction gear built-in actuator 100C, the rotor 114 and the wave generator 128 are configured separately and connected by screws. Therefore, when manufacturing the actuator with a built-in speed reducer, the wave generator 128 of the wave gear device 120C can be easily attached to the rotor 114, and replacement is facilitated. In addition, since the rotor 114 and the wave generator 128 are configured separately, the manufacture becomes easier than when the rotor and the wave generator are integrally formed.

  The structure in which the rotor and the wave generator are separately joined can be used for the cup-shaped inner rotor type according to the second embodiment and the cup-shaped outer rotor type according to the third embodiment. In some cases, similar effects can be obtained.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to embodiment mentioned above. In addition, the effects described in the embodiments of the present invention only list the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention.

  For example, in the present embodiment, a description has been given using a robot arm provided with a reduction gear built-in actuator at each joint, but the present invention is not limited to this. The same applies to a robot arm having a reduction gear built-in actuator in at least one position of each joint. In addition, when a plurality of fingers provided on the hand 12 are multi-joint, an actuator with a built-in speed reducer may be used as the finger actuator.

  In the present embodiment, the first sensor 140 and the second encoder 150 are used as the first sensor and the second sensor. However, the first sensor and the second sensor are magnetic, transmission type. Also, a reflective encoder or the like can be used. Moreover, the same effect can be acquired even if it uses a torque sensor instead of an encoder as a 1st sensor and a 2nd sensor.

  Further, in the present embodiment, the housing 130 that fixes the stators 111 and 111A is described as the support member. However, for example, a robot arm link is used as the support member, and the stators 111 and 111A are directly fixed to the link. It may be a configuration.

10, 10A, 10B, 10C Articulated robot 100, 100A, 100B, 100C Reducer built-in actuator 110 Motor shaft (shaft)
DESCRIPTION OF SYMBOLS 111 Stator 114 Rotor 121 Rigid internal gear 122 Flexible external gear 123, 123A Wave generating rotor 124 Cam part 125 Rotor part 126 Cam part 127 Rotor part 128 Wave generator 130 Housing (support member)
140 First encoder (first sensor)
150 Second encoder (second sensor)

Claims (11)

A stator that generates a rotating magnetic field around the rotation axis inside the support member;
An internal gear having an inner tooth on the inner periphery and disposed coaxially with the rotation shaft;
The outer periphery has fewer external teeth than the internal teeth of the internal gear, and on the inner peripheral side of the internal gear, the external teeth can mesh with the internal teeth of the internal gear. Tooth gears,
The elliptical cam portion that abuts the inner peripheral portion of the flexible external gear and meshes the inner teeth with the outer teeth, and the rotating magnetic field generated by the stator is used to center the rotating shaft. A wave generating rotor that has a rotor portion that rotates integrally with the cam portion, and is rotatably supported by the support member coaxially with the rotation shaft.
A reduction gear built-in actuator characterized by this. The rotor part is formed in a cylindrical shape,
The stator is disposed on the inner peripheral surface side of the rotor portion.
The reducer built-in actuator according to claim 1. The rotor part is formed in a cylindrical shape,
The stator is disposed on the outer peripheral surface side of the rotor portion.
The reducer built-in actuator according to claim 1. In the wave generating rotor, the rotor portion is rotatably supported by the support member.
The actuator with a built-in reduction gear according to any one of claims 1 to 3, wherein: A shaft connected to the wave generating rotor on the same axis as the rotation axis;
The wave generation rotor is rotatably supported by the support member via the shaft.
The actuator with a built-in reduction gear according to any one of claims 1 to 3, wherein: A shaft connected to the wave generating rotor on the same axis as the rotation axis;
The rotor portion and the shaft are rotatably supported by the support member;
The actuator with a built-in reduction gear according to any one of claims 1 to 3, wherein: A first sensor capable of detecting a rotational position of the wave generating rotor;
A second sensor capable of detecting a rotational position of a driven body connected to the flexible external gear,
The actuator with a built-in reduction gear according to any one of claims 1 to 6, wherein the actuator is built-in. A stator that is attached to the support member and generates a rotating magnetic field around the rotation axis;
A rotor that rotates about the rotation axis by a rotating magnetic field generated by the stator;
An internal gear having an inner tooth on the inner periphery and disposed coaxially with the rotation shaft;
The outer periphery has fewer external teeth than the internal teeth of the internal gear, and on the inner peripheral side of the internal gear, the external teeth can mesh with the internal teeth of the internal gear. Tooth gears,
A wave generator that is rotatably supported on the same axis as the rotation shaft, abuts against the inner peripheral portion of the flexible external gear, and meshes the internal teeth with the external teeth;
The rotor and the wave generator are joined so as to be integrated,
A reduction gear built-in actuator characterized by this. A shaft connected to the rotor coaxially with the rotating shaft;
The rotor and the shaft are rotatably supported by the support member;
The actuator with a built-in reducer according to claim 8. A first sensor capable of detecting the rotational position of the rotor;
A second sensor capable of detecting a rotational position of a driven body connected to the flexible external gear,
The actuator with a built-in reducer according to claim 8 or 9.   An articulated robot comprising the actuator with a built-in reducer according to any one of claims 1 to 10 at at least one joint.

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