JP7187933B2 - Encoders, drives and robots - Google Patents

Description

The present invention relates to encoders, drives and robots.

Encoders are being researched and developed.

In this regard, an encoder having a cover to which wiring is fixed by a grommet is known (see Patent Document 1). Here, the wiring is wiring connected to the board of the encoder.

JP-A-08-64299

In such an encoder, the work of attaching the wiring connected to the board of the encoder to the cover of the encoder via the grommet is complicated. As a result, it was sometimes difficult to improve the production efficiency of the encoder.

In order to solve the above problems, one aspect of the present invention is an encoder for detecting a rotation angle of a rotation shaft of a drive unit having a rotation shaft, the encoder being attached to the rotation shaft of the drive unit, a cover provided with a rotation angle detection unit for detecting the rotation angle of the rotation shaft, wiring connected to the rotation angle detection unit, and a first hole and a second hole through which the wiring passes; , wherein the cover has a passage that bends and connects between the first hole and the second hole, and the wiring passes through the first hole, the passage, and the second hole. An encoder connected to the rotation angle detection unit.

To solve the above problems, one aspect of the present invention provides a drive unit having a rotation shaft, which is attached to the rotation shaft of the drive unit and detects a rotation angle of the rotation shaft. an angle detector, wiring connected to the rotation angle detector, and a cover provided with a first hole and a second hole through which the wiring passes, wherein the cover includes the first hole and the A drive unit having a passage that bends and connects with a second hole, and the wiring is connected to the rotation angle detection unit through the first hole, the passage, and the second hole be.

In order to solve the above problems, one aspect of the present invention provides a base, a movable portion supported by the base, a driving portion provided in the movable portion and having a rotation shaft, and the a rotation angle detection unit attached to a rotation shaft for detecting a rotation angle of the rotation shaft; wires connected to the rotation angle detection unit; and a first hole and a second hole through which the wires pass. The cover has a passage that bends and connects between the first hole and the second hole, and the wiring includes the first hole, the passage, and the The robot is connected to the rotation angle detector through a second hole.

It is a figure showing an example of composition of robot system 1 concerning an embodiment. 2 is an exploded perspective view showing an example of the configuration of an encoder EC; FIG. FIG. 3 is a cross-sectional view of the encoder EC shown in FIG. 2 when the encoder EC is assembled; 6 is a diagram showing an example of a configuration of a passage IP provided in the cover C; FIG. FIG. 4 is a diagram showing an example of the flow of procedures for assembling an encoder EC; FIG. 3 is a perspective view showing an example of a cover C provided with a reinforcing member; FIG. 4 is a top view showing an example of a cover C provided with reinforcing members;

<Embodiment>
BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Robot configuration>
First, the configuration of a robot 1 according to an embodiment will be described with reference to FIG.
FIG. 1 is a diagram showing an example of the configuration of a robot 1 according to an embodiment. In addition, below, the case where the robot 1 is a SCARA robot is demonstrated as an example. A SCARA robot is also called a horizontal articulated robot. Note that the robot 1 may be another type of robot such as a vertically articulated robot instead of the SCARA robot. Here, the vertically articulated robot may be a single-arm robot having one arm or a multiple-arm robot having two or more arms. Multi-arm robots with two arms are also referred to as dual-arm robots.

The robot 1 is controlled by a robot controller (not shown). The robot 1 may be configured to be controlled by a robot control device installed inside, or may be configured to be controlled by a robot control device installed outside.

The robot 1 includes a base B and a movable part A.

The base B supports the movable part A. In the example shown in FIG. 1, the base B is installed on a predetermined installation surface. The installation surface is, for example, the floor surface of the room where the robot 1 is made to work. The installation surface may be a wall surface of the room, a ceiling surface of the room, an upper surface of a table, a surface of a jig, a surface of a stand, or the like, instead of the floor surface.

Here, in the following, for convenience of explanation, the direction from the base B toward the installation surface among the directions orthogonal to the installation surface will be referred to as the downward direction. Moreover, below, for convenience of explanation, the direction opposite to the downward direction will be referred to as the upward direction. Moreover, below, as an example, a case where the downward direction coincides with the direction of gravity will be described.

The movable portion A is supported by a first arm A1 rotatably supported by a base B about a first rotation axis AX1, and by the first arm A1 rotatably supported about a second rotation axis AX2. It comprises a second arm A2 and a shaft S supported by the second arm A2 so as to be rotatable about a third rotation axis AX3 and to be translatable in the axial direction of the third rotation axis AX3.

The shaft S is a cylindrical shaft. A ball screw groove (not shown) and a spline groove (not shown) are provided on the peripheral surface of the shaft S, respectively. In the example shown in FIG. 1, the shaft S is provided so as to pass vertically through the end of the second arm A2 opposite to the first arm A1.

An external device can be attached to the tip of the shaft S. An external device that can be attached to the tip of the shaft S is an end effector or the like. The tip of the shaft S is the lower end of the two ends that the shaft S has. Nothing is attached to the tip of the shaft S shown in FIG. The end effector attached to the tip of the shaft S is, for example, an end effector capable of holding an object with its fingers. The end effector attached to the tip of the shaft S may be an end effector capable of holding an object by air attraction, magnetic attraction, or the like. Also, the end effector attached to the tip of the shaft S may be an end effector that cannot hold an object. Here, in this embodiment, to hold an object means to bring the object into a state in which it can be lifted.

In this example, the first arm A1 rotates around the first rotation axis AX1 and moves in the horizontal direction. The horizontal direction is a direction perpendicular to the vertical direction.

Further, the first arm A1 is rotated around the first rotation axis AX1 by the first driving portion M1 provided on the base B. As shown in FIG. The first drive unit M1 is an actuator that rotates the first arm A1 around the first rotation axis AX1. The first drive unit M1 is, for example, a servomotor. That is, in this embodiment, the first rotation axis AX1 is a virtual axis that coincides with the rotation axis of the first drive unit M1. Note that the first drive unit M1 may be another actuator that rotates the first arm A1 instead of the servomotor.

In this example, the second arm A2 rotates around the second rotation axis AX2 and moves horizontally.

The second arm A2 is rotated around the second rotation axis AX2 by the second driving portion M2 provided in the second arm A2. The second driving portion M2 rotates the second arm A2 around the second rotation axis AX2. The second drive unit M2 is, for example, a servomotor. That is, in this embodiment, the second rotation axis AX2 is a virtual axis coinciding with the rotation axis of the second drive unit M2. The second drive unit M2 may be another actuator that rotates the second arm A2 instead of the servomotor.

Further, the second arm A2 has a third driving portion M3 and a fourth driving portion M4, and supports the shaft S.

The third driving portion M3 rotates a ball screw nut provided on the outer peripheral portion of the ball screw groove of the shaft S via a timing belt or the like. Thereby, the third drive unit M3 moves (lifts) the shaft S in the vertical direction. The third drive unit M3 is, for example, a servomotor. Note that the third drive unit M3 may be another actuator that vertically moves (lifts) the shaft S instead of the servomotor.

The fourth drive unit M4 rotates a ball spline nut provided on the outer circumference of the spline groove of the shaft S via a timing belt or the like. Thereby, the fourth drive unit M4 rotates the shaft S around the third rotation axis AX3. The fourth drive unit M4 is, for example, a servomotor. Note that the fourth drive unit M4 may be another actuator that rotates the shaft S around the third rotation axis AX3 instead of the servomotor.

Thus, the third rotation axis AX3 is a virtual axis that coincides with the central axis of the shaft S. As shown in FIG.

In the following, as an example, a case where each of the first driving section M1 to the fourth driving section M4 has the same configuration will be described. Part or all of the first driving section M1 to the fourth driving section M4 may have different configurations. Hereinafter, unless it is necessary to distinguish between the first driving section M1 to the fourth driving section M4, they will be collectively referred to as the driving section M for explanation.

The drive unit M includes an encoder EC that outputs the rotation angle of the rotation shaft of the drive unit M to another device. In FIG. 1, the encoder EC is omitted to avoid complication of the drawing. In addition, the drive unit M provided with the encoder EC is called a servomotor.

As an example, the case where the encoder EC is an optical encoder will be described below. The encoder EC may be a magnetic encoder or a mechanical encoder instead of an optical encoder, and may be a combination of two or more of optical, magnetic, and mechanical encoders. It may be an encoder of the specified method or an encoder of another method.

Here, the configuration of the encoder EC will be described.
FIG. 2 is an exploded perspective view showing an example of the configuration of the encoder EC. 3 is a sectional view of the encoder EC when the encoder EC shown in FIG. 2 is assembled. Note that FIG. 3 is a cross-sectional view of the encoder EC when the encoder EC is cut along a plane including the rotation shaft of the drive unit M provided with the encoder EC. Here, in order to simplify the explanation below, in FIGS. 2 and 3, when the direction from the drive unit M to the encoder EC in the axial direction of the rotation shaft coincides with the upward direction described above. will be explained.

The encoder EC includes a rotation angle detection unit EU, a cover C, and wiring CA connected to the rotation angle detection unit EU.

The rotation angle detection unit EU is attached to the rotation shaft of the driving unit M. As shown in FIG. Also, the rotation angle detection unit EU is a detector that detects the rotation angle of the rotation shaft. In this embodiment, the rotation angle detection unit EU is a detector that detects the rotation angle of the rotation shaft using light.

The rotation angle detection unit EU drives the substrate BP that controls the rotation angle detection unit EU, the pedestal D fixed to the rotation shaft, the optical disk DC provided on the upper surface of the pedestal D, and the substrate BP. It has a pedestal D2 fixed to the portion M, an optical element SR provided (fixed) on the substrate BP, and a light emitting element (not shown).

The optical disk DC is provided with a plurality of slit rows each formed of a plurality of slits arranged in the circumferential direction. The slit of the optical disc DC may be transmissive or reflective. The optical element SR detects light emitted from the light emitting element of the rotation angle detection unit EU and reflected by the optical disc DC.

The board BP includes a processor such as a CPU (Central Processing Unit). Further, the substrate BP is provided with a first connector CN1 for connecting between the substrate BP and the wiring CA. The first connector CN1 is a connector into which a second connector CN2 provided at the end of the wiring CA that is connected to the first connector CN1 is inserted. The first connector CN1 has a receptacle into which the second connector CN2 is inserted along the horizontal direction. That is, the board BP and the wiring CA are connected by horizontally inserting the second connector CN2 into the insertion opening of the first connector CN1.

Power is supplied to the substrate BP from the wiring CA connected to the substrate BP. The board BP controls the entire encoder EC based on the supplied power. Further, the substrate BP detects the rotation angle of the rotation shaft of the driving section M based on the reflected light detected by the optical element SR. The board BP outputs a signal indicating the detected rotation angle to another device via the wiring CA connected to the board BP. That is, in the present embodiment, the wiring CA includes both power lines for supplying power and signal lines for transmitting signals. Note that the wiring CA may include either one of the power line and the signal line, and another wiring may be included instead of one or both of the power line and the signal line. It may be configured to be Further, the substrate BP is provided with an element R on the upper side of the substrate BP, that is, on the side opposite to the optical element SR.

Note that the configuration of the rotation angle detection unit EU may be a known configuration, or may be a configuration that will be developed in the future. Therefore, further detailed description of this configuration is omitted. In the following, as an example, a case will be described in which the board BP outputs a signal indicating the rotation angle of the rotation shaft of the drive unit M to the robot control device that controls the robot 1 . Note that the output destination to which the board BP outputs the signal may be another device instead of the robot control device.

The cover C is a cover that covers the rotation angle detection unit EU attached to the rotation shaft of the drive unit M. As shown in FIG. The driving part M includes a rotating rotor, a rotation axis of the rotor, a stator arranged around the rotor, and a motor cover MC surrounding the rotor and the stator. In the example shown in FIG. 1, the rotation angle detection unit EU is positioned above the cover MC. Therefore, in this example, the rotation angle detection unit EU is surrounded by the cover C and the cover MC. Hereinafter, for convenience of explanation, the space that includes the rotation angle detection unit EU and is surrounded by the cover C and the cover MC will be referred to as a first space R1. Instead of the space surrounded by the cover C and the cover MC, the first space R1 may be a space surrounded by a member other than the cover C and the drive unit M. It may be a space surrounded by members other than the drive unit M. For example, a seal is arranged on the upper surface of the cover MC as a member other than the drive unit M, and the space surrounded by the cover C and the seal and the space surrounded by the cover C, the cover MC and the seal are defined as the first space. It may be R1. Also, the first space R1 may be a space surrounded by members other than the cover MC and the cover C in the driving portion M. For example, a structure in which the cover C is directly fixed to the stator of the driving portion M as a member other than the cover MC in the driving portion M may be employed, and the space surrounded by the cover C and the stator may be the first space R1. Furthermore, it may be a space surrounded by the cover C, the cover MC and the stator. In either case, the first space R1 may be any space that includes the rotation angle detection unit EU. Note that the cover C may include a part of the drive unit M. As shown in FIG. For example, the cover C may include a portion of the cover MC. For example, the cover C may be configured to surround the rotor and stator. Further, the cover C may have a configuration in which some member other than the drive unit M is included.

The cover C also has a first inner wall W1.

The first inner wall W1 is a wall that surrounds the above-described first space R1 together with the upper surface of the cover MC. In other words, the first inner wall W1 is the surface of the cover C that covers the rotation angle detection unit EU. In other words, the first inner wall W1 is the surface of the cover C that faces the first space R1. If the cover C includes a portion of the driving portion M, the first inner wall W1 may be configured to cover both the cover C and the portion.

The cover C also has a first hole H1, a second hole H2, and a passage IP connecting between the first hole H1 and the second hole H2.

The second hole H2 is a hole provided in the first inner wall W1.

Further, in the example shown in FIG. 3, the second hole H2 is positioned substantially directly above the first connector CN1 when the cover C is viewed from the axial direction of the rotation shaft of the driving portion M. , on the first inner wall W1. Here, the fact that the second hole H2 is positioned substantially directly above the first connector CN1 means that at least a portion of the second hole H2 overlaps the first connector CN1 in this case. In the present embodiment, the case where the cover C is viewed from the axial direction of the rotation shaft of the driving portion M means the case where the cover C is viewed from above in the axial direction of the rotation shaft.

When the second hole H2 is positioned almost directly above the first connector CN1, the wiring CA in the first space R1 extends from the first connector CN1, into which the second connector CN2 is inserted, toward the second hole H2. stretched. That is, the wiring CA extends from bottom to top within the first space R1. In other words, the wiring CA extends along the axial direction of the rotation shaft of the driving portion M in the first space R1. Thereby, in the encoder EC, the length of the wiring CA in the first space R1 can be shortened. Further, this allows the wiring CA to be arranged so as to be separated from the substrate BP in the encoder EC. As a result, the encoder EC can suppress contact between the wiring CA and the substrate BP in the first space R1. Note that such separation between the wiring CA and the substrate BP may be realized by a method such as clamping the wiring CA in the first space R1.

Further, when the wiring CA in the first space R1 extends from bottom to top in the first space R1, even if the wiring CA is pulled to the outside of the cover C, the first connector CN1 is connected to the first connector CN1. No force is applied in the direction of removing the second connector CN2 from the insertion port of the connector CN1. This is because the insertion opening of the first connector CN1 is the insertion opening into which the second connector CN2 is inserted along the horizontal direction. Therefore, when the wiring CA is pulled to the outside of the cover C, a rotational moment is applied to the first connector CN1 from bottom to top to rotate the first connector CN1. As a result, the encoder EC can suppress disconnection of the wire CA from the rotation angle detection unit EU in this case.

The second hole H2 is provided in the first inner wall W1 so as to be positioned at a position different from the position substantially directly above the first connector CN1 when the cover C is viewed from the axial direction of the rotation shaft of the driving portion M. The configuration may be such that Even in this case, it is desirable that the wiring CA be arranged in the first space R1 so as to be separated from the substrate BP of the rotation angle detection unit EU. This is because the wiring CA may be disconnected when the wiring CA contacts the substrate BP. In this case, the wiring CA can be separated from the substrate BP by, for example, a method of providing a groove through which the wiring CA passes in the first space R1, a method of providing a tube through which the wiring CA passes in the first space R1, or the like.

The first hole H1 is a hole provided in the outer wall of the cover C. As shown in FIG.

Further, the first hole H1 is provided with a cover so that the first hole H1 and the second hole H2 do not overlap when the first hole H1 and the second hole H2 are viewed from the axial direction of the rotation shaft of the driving portion M. Located on the outer wall of C. As a result, the encoder EC can keep the foreign matter that has entered the passage IP through the first hole H1 in the passage IP, and prevent the foreign matter from entering the first space R1 through the second hole H2. can be suppressed. The foreign matter is, for example, dust, water, oil, or the like. In addition, the said foreign material is not necessarily restricted to these. In the present embodiment, when the first hole H1 and the second hole H2 are viewed from the axial direction of the rotating shaft of the driving portion M, the first hole H1 and the second hole H1 are viewed from the axial direction of the rotating shaft. It means the case where H2 is viewed from above.

In the example shown in FIG. 3, the wall of the outer wall of the cover C in which the first hole H1 is provided is the wall of the outer wall of the cover C located on the horizontal side of the first space R1. Also, in this example, the first hole H1 is located above the first space R1.

Further, the first hole H1 is positioned on a straight line passing through the first connector CN1 and the rotation shaft when the cover C is viewed from the axial direction of the rotation shaft of the driving portion M. In this case, the fact that the first hole H1 is positioned on a straight line passing through the first connector CN1 and the rotation shaft means that the first hole H1 overlaps a part of the straight line. do. In such a case, in the cover C, the passage IP can be provided in the cover C so as to extend substantially along the horizontal plane. In the example shown in FIG. 3, the passage IP extends substantially along the horizontal plane. The wiring CA, which is inserted through the passage IP provided in the cover C along a substantially horizontal plane, extends substantially along a horizontal plane between the first hole H1 and the second hole H2. On the other hand, as described above, in the present embodiment, the wiring CA in the first space R1 extends from bottom to top. Therefore, when the wiring CA is pulled to the outside of the cover C, at least part of the tension applied to the wiring CA is applied to the first inner wall W1. As a result, the encoder EC can suppress the load applied to the first connector CN1.

The passage IP bends and connects between the first hole H1 and the second hole H2. More specifically, the passage IP is, for example, a hole that penetrates between the outer wall of the cover C and the first inner wall W1 and connects between the first hole H1 and the second hole H2.

The passage IP interferes with the wiring CA. Interference refers to a state in which they are in contact, or a state in which although there is a gap, the gap is such that contact is possible. It also includes not only the state of continuous contact, but also the state of temporary contact. That is, the passage IP may come into contact with the wiring CA when the wiring CA is inserted through the passage IP. When the passage IP comes into contact with the wiring CA, the passage IP restrains the movement of the wiring CA by friction between the passage IP and the wiring CA. The movement is movement of the wiring CA when the wiring CA is pulled to the outside of the cover C. As shown in FIG. Accordingly, in this case, the passage IP can more reliably prevent the wiring CA from being detached from the rotation angle detection unit EU. The movement of the wiring CA suppressed by the passage IP includes, in addition to the movement of the wiring CA when the wiring CA is pulled to the outside of the cover C, other movements of the wiring CA in the passage IP. may Hereinafter, for convenience of explanation, the movement of the wiring CA when the wiring CA is pulled to the outside of the cover C will be simply referred to as the movement of the wiring CA.

Here, FIG. 4 is a diagram showing an example of the configuration of the passage IP provided in the cover C. As shown in FIG. 4 is a cross-sectional view of the cover C when the cover C is cut so that the passage IP can be seen along the direction perpendicular to the rotation axis of the drive unit M. As shown in FIG. As shown in FIG. 4, the passage IP is a passage that bends and connects between the first hole H1 and the second hole H2. The passage IP shown in FIG. 4 suppresses movement of the wiring CA by friction between the passage IP and the wiring CA.

The passage IP may be a pipe provided between the outer wall of the cover C and the first inner wall and connecting between the first hole H1 and the second hole H2. In this case, a second inner wall W2 is provided at least partially between the outer wall of the cover C and the first inner wall W1. The second inner wall W2 is a wall surrounding a second space different from the first space R1. Also, the second space is a space in which the pipe is provided. Also, in this case, the second hole H2 connects between the first inner wall W1 and the second inner wall W2. Also, in this case, the first hole H1 connects between the outer wall of the cover C and the second inner wall W2.

Also, the passage IP may be a hole that penetrates between the resin filled in the second space and connects between the first hole H1 and the second hole H2. Here, the resin filled in the second space is, for example, a sponge, but is not limited to this. Also in this case, the second hole H2 connects between the first inner wall W1 and the second inner wall W2. Also in this case, the first hole H1 connects between the outer wall of the cover C and the second inner wall W2.

Here, it is desirable that the area of contact between the wiring CA and the passage IP be large. This is because when the wiring CA is pulled to the outside of the cover C, the frictional force generated between the wiring CA and the passage IP increases. For this reason, the path IP is curved in the example shown in FIG. By bending the passage IP, the passage IP can more reliably suppress the movement of the wiring CA. In this example, the passage IP is curved in a quadratic function, but instead, it may be curved in a cubic or higher function.

In addition, since the passage IP is curved, the passage IP can retain in the passage IP a foreign object that has entered the passage IP through the first hole H1. It is possible to more reliably suppress entry into R1. In addition, the passage IP can prevent foreign matter from entering the first space R1 due to the contact between the passage IP and the wiring CA, the narrowness of the gap between the passage IP and the wiring CA, and the like.

Also, the curvature radius of the curved path IP is larger than the minimum bending radius of the wiring CA. Accordingly, the passage IP can prevent the wiring CA from being disconnected by inserting the wiring CA into the passage IP. In addition, this makes it possible to prevent the passage IP from making it difficult to insert the wiring CA into the passage IP.

Moreover, it is desirable that the coefficient of friction of at least a portion of the passage IP be large. As a method of increasing the coefficient of friction of at least part of the passage IP, for example, there is a method of providing resin such as rubber on the surface of at least part of the passage IP. Any other method may be used to increase the coefficient of friction of at least a portion of the passage IP.

Here, in the example shown in FIG. 4, the passage IP is a passage connecting between the first hole H1 and the second hole H2, as described above. In this case, in the encoder EC, movement of the wiring CA can be suppressed only by inserting the wiring CA through the path IP. That is, in the encoder EC, it is not necessary to suppress movement of the wiring CA using a grommet, binding band, or the like. The wiring CA is inserted into the path IP by inserting the wiring CA from the first hole H1 toward the second hole H2, or by inserting the wiring CA from the second hole H2 toward the first hole H1. can be easily done by As a result, the encoder EC can simplify the assembling work of the encoder EC and improve the production efficiency of the encoder EC.

<Specific example of how to assemble an encoder>
A specific example of the procedure for assembling the encoder EC will be described below with reference to FIG. FIG. 5 is a diagram showing an example of the flow of procedures for assembling the encoder EC. In addition, below, the case where the rotation angle detection part EU is already assembled and the rotation angle detection part EU is attached to the upper surface of cover MC is demonstrated. Also, hereinafter, a person who assembles the encoder EC will be referred to as an operator.

Step S110: The operator inserts the second connector CN2 into the opening of the first connector CN1.

Step S120: After step S110, the operator inserts the wiring CA through the passage IP.

Here, in step S120, the operator may insert the wiring CA through the passage IP from the first hole H1 toward the second hole H2, or may insert the wiring CA from the second hole H2 toward the first hole H1. You may make it penetrate to passage IP. Moreover, the procedure of step S110 and the procedure of step S120 may be performed in reverse order.

Step S130: After step S120, the operator attaches the cover C to the drive unit M. More specifically, in step S130, the operator attaches the cover C to the upper surface of the cover MC, covers the rotation angle detection unit EU with the cover C, and completes the assembly of the encoder EC.

As described above, the procedure for assembling the encoder EC does not include the procedure for attaching grommets, binding bands, etc. to the wiring CA. Thereby, the encoder EC can simplify the assembling work of the encoder EC, and can improve the production efficiency of the encoder EC.

<Modified example of embodiment>
Modifications of the embodiment will be described below.

As shown in FIGS. 6 and 7, the cover C described above may be provided with a reinforcing member for increasing rigidity. FIG. 6 is a perspective view showing an example of the cover C provided with reinforcing members. FIG. 7 is a top view showing an example of the cover C provided with reinforcing members. 6 and 7, for convenience of explanation, when the cover C is attached to the drive unit M, the direction from the drive unit M toward the cover C among the directions along the rotation axis of the drive unit M is referred to as upward or upward direction.

A member RB1 and a member RB2 shown in FIGS. 6 and 7 are examples of reinforcing members provided on the cover C, respectively. Each of the member RB1 and the member RB2 is a rib-shaped member provided on the outer wall of the cover C on the side surface side along the vertical direction. In addition, each of the members RB1 and RB2 is provided on the outer wall of the cover C so as to be included inside the outline of the drive unit M to which the cover C is attached when the cover C is viewed from above. be done. Further, in this case, the members RB1 and RB2 are provided on the outer wall of the cover C so as to be aligned substantially in a straight line across the rotation shaft of the driving portion M to which the cover C is attached.

Thereby, the encoder EC can improve the rigidity of the cover C. For example, in an experiment conducted by us, the rigidity when an external force was applied to the outer wall of the cover C was increased by 31% compared to the case where the member RB1 and the member RB2 were not provided to the cover C. It should be noted that such a rate of increase in rigidity varies depending on the size, shape, etc. of the cover C, so it is not always 31%.

Note that each of the first hole H1 and the second hole H2 described above is included in the cover C among the portions of the wiring CA when the encoder EC is viewed from the axial direction of the rotation shaft of the drive unit M. The cover C is desirably provided such that the portion to be covered is contained within the contour of the drive portion M. As shown in FIG. As a result, it is possible to prevent the size of the encoder EC from increasing in the direction orthogonal to the axial direction of the rotation shaft. As a result, the encoder EC can prevent the drive unit M including the encoder EC from becoming large. In addition, the encoder EC can prevent the robot 1 including the encoder EC from becoming too large.

Also, the cover C described above may be composed of two or more members.

As described above, the encoder in the embodiment is an encoder that detects the rotation angle of the rotation shaft of the drive unit having the rotation shaft, and is attached to the rotation shaft of the drive unit. a rotation angle detection unit for detecting a rotation angle; a wiring connected to the rotation angle detection unit; and a cover provided with a first hole and a second hole through which the wiring passes; It has a path that bends and connects between the first hole and the second hole, and the wiring passes through the first hole, the path, and the second hole and is connected to the rotation angle detection section. This allows the encoder to simplify assembly work. As a result, the encoder can improve the production efficiency of the encoder. Here, the drive unit is the encoder EC in the example described above. Further, the rotation angle detection unit is the rotation angle detection unit EU in the example described above. Also, the wiring is the wiring CA in the example described above. Moreover, the said 1st hole is the 1st hole H1 in the example demonstrated above. Moreover, the said 2nd hole is the 2nd hole H2 in the example demonstrated above. Also, the cover is the cover C in the example described above. Also, the passage is the passage IP in the example described above.

Further, the encoder may employ a configuration in which the radius of curvature of the passage connecting the first hole and the second hole by bending is larger than the minimum bending radius of the wiring.

Further, in the encoder, the wiring is connected to the first connector provided on the substrate of the rotation angle detection section, and the second hole is, in plan view from the axial direction of the rotation shaft of the drive section, Arrangements may be used that lie on a straight line through the first connector and the pivot axis. Here, the substrate is the substrate BP in the example described above. Also, the first connector is the first connector CN1 in the example described above.

Further, in the encoder, a configuration may be used in which the first hole and the second hole do not overlap in plan view from the axial direction of the rotating shaft of the drive section.

Further, the drive unit in the embodiment is a drive unit having a rotation shaft, and is attached to the rotation shaft of the drive unit and detects a rotation angle of the rotation shaft. A wire connected to the angle detection part and a cover provided with a first hole and a second hole through which the wire passes, wherein the cover bends and connects between the first hole and the second hole. A passage is provided, and the wiring is connected to the rotation angle detector through the first hole, the passage, and the second hole. Thereby, the drive section can simplify the assembly work. As a result, the driving section can improve the production efficiency of the driving section.

Further, in the drive unit, a configuration may be used in which the radius of curvature of the passage that bends and connects between the first hole and the second hole is larger than the minimum bending radius of the wiring.

Further, in the drive section, the wiring is connected to the first connector provided on the board of the rotation angle detection section, and the second hole is, in plan view from the axial direction of the rotation shaft of the drive section, , located on a straight line through the first connector and the pivot axis.

Further, in the driving portion, a configuration may be used in which the first hole and the second hole do not overlap in plan view from the axial direction of the rotating shaft of the driving portion.

Further, the robot in the embodiment includes a base, a movable portion supported by the base, a driving portion provided in the movable portion and having a rotating shaft, and a rotating shaft attached to the rotating shaft of the driving portion. a rotation angle detection unit for detecting the rotation angle of the rotation angle detection unit; wiring connected to the rotation angle detection unit; and a cover provided with a first hole and a second hole through which the wiring passes, It has a path that bends and connects between the first hole and the second hole, and the wiring passes through the first hole, the path, and the second hole and is connected to the rotation angle detection section. This allows the robot to simplify assembly work. As a result, the robot can improve its production efficiency. Here, the base is the base B in the example described above. Also, the movable portion is the movable portion A in the example described above.

Further, the robot may employ a configuration in which the radius of curvature of the passage connecting the first hole and the second hole by bending is larger than the minimum bending radius of the wiring.

Further, in the robot, the wiring is connected to the first connector provided on the substrate of the rotation angle detection unit, and the second hole is, in plan view from the axial direction of the rotation shaft of the drive unit, Arrangements may be used that lie on a straight line through the first connector and the pivot axis.

Further, in the robot, a configuration may be used in which the first hole and the second hole do not overlap when viewed from above in the axial direction of the rotation shaft of the drive section.

As described above, the embodiments of the present invention have been described in detail with reference to the drawings. may be

DESCRIPTION OF SYMBOLS 1... Robot, A... Movable part, A1... 1st arm, A2... 2nd arm, AX1... 1st rotation axis, AX2... 2nd rotation axis, AX3... 3rd rotation axis, B... Base, BP...Board, C...Cover, CA...Wiring, CN1...First connector, CN2...Second connector, D...Pedestal, DC...Optical disk, EC...Encoder, EU...Rotating angle detector, H1...First hole , H2...Second hole, M...Drive section, M1...First drive section, M2...Second drive section, M3...Third drive section, M4...Fourth drive section, MC...Cover, R1...First space, RB1...member, RB2...member, S...shaft, IP...passage, SR...optical element, W1...first inner wall, W2...second inner wall

Claims (6)

An encoder for detecting a rotation angle of a rotation shaft of a driving unit having a rotation shaft,
a rotation angle detection unit attached to the rotation shaft of the drive unit and configured to detect the rotation angle of the rotation shaft;
wiring connected to the rotation angle detection unit;
a cover provided with a first hole and a second hole through which the wiring passes;
with
the cover has a path that bends and connects between the first hole and the second hole,
the wiring is connected to the rotation angle detection unit through the first hole, the passage, and the second hole ;
In plan view from the axial direction of the rotation shaft, the distance between the first hole and the second hole is longer than the distance between the first hole and the rotation shaft.
encoder. the radius of curvature of the passage is greater than the minimum bending radius of the wiring;
The encoder of claim 1. The wiring is connected to a first connector provided on a substrate of the rotation angle detection unit,
The second hole is positioned on a straight line passing through the first connector and the rotation shaft in plan view from the axial direction of the rotation shaft.
3. Encoder according to claim 1 or 2. The first hole and the second hole do not overlap in plan view from the axial direction of the rotation shaft,
4. An encoder according to any one of claims 1-3. A drive unit having a rotation shaft,
a rotation angle detection unit attached to the rotation shaft of the drive unit and configured to detect a rotation angle of the rotation shaft;
wiring connected to the rotation angle detection unit;
a cover provided with a first hole and a second hole through which the wiring passes;
with
the cover has a path that bends and connects between the first hole and the second hole,
the wiring is connected to the rotation angle detection unit through the first hole, the passage, and the second hole ;
In plan view from the axial direction of the rotation shaft, the distance between the first hole and the second hole is longer than the distance between the first hole and the rotation shaft.
Drive part. a base;
a movable part supported by the base;
a drive unit provided in the movable unit and having a rotation shaft;
a rotation angle detection unit attached to the rotation shaft of the drive unit and configured to detect a rotation angle of the rotation shaft;
wiring connected to the rotation angle detection unit;
a cover provided with a first hole and a second hole through which the wiring passes;
with
the cover has a path that bends and connects between the first hole and the second hole,
the wiring is connected to the rotation angle detection unit through the first hole, the passage, and the second hole ;
In plan view from the axial direction of the rotation shaft, the distance between the first hole and the second hole is longer than the distance between the first hole and the rotation shaft.
robot.

Images