ROTARY ACTUATOR AND ROBOT
There is provided a rotary actuator which makes it possible to operate a regulation release of a regulating member from the outside of a case body when the regulating member is in a regulation position, and can prevent an unexpected regulation release, and a robot. A drive mechanism of a joint part has a compression coil spring for biasing a regulation pin toward a regulation position, and a solenoid for moving the regulation pin 32 toward a regulation release position. A through hole is formed in a case body at a portion facing the upper end portion (the other end portion opposite to one end portion abutting against the regulation pin) of a plunger of the solenoid, and the upper end portion of the plunger is positioned on the inside of the case body while the regulation pin is in the regulation position.
1 . A rotary actuator comprising:
a motor having a rotor and a stator;
a rotation regulating mechanism configured to regulate a rotation of the rotor in a stopped state; and
a case body in which the motor and the rotation regulating mechanism are housed, wherein
the rotation regulating mechanism has an annular rotation-side regulating member fixed to the rotor, a regulating member inserted between a plurality of protrusions formed along a circumferential direction on an outer circumferential surface of the rotation-side regulating member and configured to regulate a movement of the rotation-side regulating member in the circumferential direction, and a drive mechanism configured to move the regulating member in an axial direction of the rotor between a regulation position in which the regulating member is disposed between the protrusions in the circumferential direction and a regulation release position in which the regulating member is disengaged from between the protrusions in the circumferential direction,
the drive mechanism has a biasing member configured to bias the regulating member toward the regulation position, and a solenoid configured to move the regulating member toward the regulation release position,
a plunger of the solenoid has one end portion abutting against the regulating member, and the other end portion opposite to the one end portion,
a through hole is formed in a portion of the case body, which faces the other end portion of the plunger of the solenoid, and
the other end portion of the plunger is positioned on the inside of the case body in a state in which the regulating member is in the regulation position.
2 . The rotary actuator according to claim 1 , wherein
the other end portion of the plunger is positioned on the inside of the through hole while the regulating member is in the regulation position.
3 . The rotary actuator according to claim 1 , comprising
a wall provided around the through hole on an inner surface of the case body.
4 . The rotary actuator according to claim 1 , wherein
the regulating member is a columnar member with a uniform cross-sectional shape perpendicular to the axial direction.
5 . The rotary actuator according to claim 4 , wherein
while the regulating member is in the regulation position, a surface of the regulating member, which abuts against the one end portion of the plunger, is positioned further outside between the protrusions structured to sandwich the regulating member in the axial direction.
6 . A rotary actuator comprising:
a motor having a rotor and a stator;
a rotation regulating mechanism configured to regulate a rotation of the rotor in a stopped state; and
a case body in which the motor and the rotation regulating mechanism are housed, wherein
the rotation regulating mechanism has an annular rotation-side regulating member fixed to the rotor, a regulating member inserted between a plurality of protrusions formed along a circumferential direction on an outer circumferential surface of the rotation-side regulating member and configured to regulate a movement of the rotation-side regulating member in the circumferential direction, and a drive mechanism configured to move the regulating member in an axial direction of the rotor between a regulation position in which the regulating member is disposed between the protrusions in the circumferential direction and a regulation release position in which the regulating member is disengaged from between the protrusions in the circumferential direction,
the drive mechanism has a biasing member configured to bias the regulating member toward the regulation position, and a solenoid configured to move the regulating member toward the regulation release position,
a plunger of the solenoid has one end portion abutting against the regulating member, and the other end portion opposite to the one end portion,
the other end portion of the plunger of the solenoid is positioned in the case body and is covered by the case body so as to not be exposed while the regulating member is in the regulation position, and
a portion in the case body, which faces the other end portion of the plunger, is composed of a member having an elasticity capable of being deformed to the other end portion and abutting against the other end portion by receiving an external force from a side that is opposite to the other end portion.
7 . The rotary actuator according to claim 6 , wherein
projections projecting toward the other end portion are formed on a surface of the portion of the case body, which faces the other end portion side.
8 . The rotary actuator according to claim 6 , wherein
an outer surface of a region in which the portion is formed in the case body is perpendicular to the axial direction of the rotation-side regulating member,
a side surface of the case body parallel to the axial direction is formed on the outer side of a radial direction of the rotation-side regulating member with respect to the portion, and
an inclined surface structured to connect the outer surface of the region with the side surface and inclined relative to the outer surface is formed in the case body.
9 . A robot comprising a joint part constituted by the rotary actuator according to claim 1 .