# US 11,027,422 B2 · Rotary actuator and robot > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,027,422 B2 - Document ID: US11027422B2 - Status: Granted - Kind: B2 - Application number: 16/089,364 - Filed: 2017-03-08 - Published: 2020-10-15 - Granted: 2021-06-08 - Earliest claimed: 2016-03-30 - Assignees: Nidec Corporation - Applicants: Nidec Corporation - Inventors: Yuu Ayuzawa - Web page: https://patentgrep.com/patent/US11027422B2 ## CPC - B25J 9/126: {Rotary actuators} - B25J 9/101: {using limit-switches, -stops} - H02K 7/116: with gears - B25J 9/06: characterised by multi-articulated arms - B25J 9/102: {Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H)} - B25J 19/00: Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators (safety-devices in general F16P; protection against radiation in general G21F) - F16H 49/001: {Wave gearings, e.g. harmonic drive transmissions} - H02K 1/2733: Annular magnets - H02K 5/1735: {radially supporting the rotary shaft at only one end of the rotor (H02K5/1737 takes precedence)} - H02K 11/21: Devices for sensing speed or position, or actuated thereby (specially adapted for machines having non-mechanical commutating devices H02K29/06, H02K29/14) - H02K 11/33: Drive circuits, e.g. power electronics (H02K11/38 takes precedence) - H02K 2211/03: Machines characterised by circuit boards, e.g. pcb - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) - F16H: GEARING ## Abstract Provided, for example, is a rotary actuator that is equipped with a rotation restricting mechanism for restricting the rotation of a stopped rotor. The rotation restricting mechanism is provided with: a rotation-side restricting member fixed to the rotor; a fixed-side restricting member that engages with the rotation-side restricting member and restricts the movement of the rotation-side restricting member in the circumferential direction of the rotor; and a drive mechanism that moves the fixed-side restricting member in the axial direction of the rotor. A plurality of protrusions that project toward the outer side of the radial direction of the rotor are formed in the rotation-side restricting member. A restricting part 46a that penetrates in between the protrusions in the circumferential direction and restricts the movement of the rotation-side restricting member in the circumferential direction is formed in the fixed-side restricting member. ## Claims ### Claim 1 A rotary actuator comprising: a motor including a rotor and a stator; and a rotation restricting mechanism which restricts rotation of the rotor that has stopped; a case body in which the motor and the rotation restricting mechanism is accommodated, wherein the rotation restricting mechanism includes: a substantially annular rotation-side restricting member fixed to the rotor; a fixed-side restricting member which engages with the rotation-side restricting member to restrict movement of the rotation-side restricting member in a circumferential direction of the rotor; and a drive mechanism which moves the fixed-side restricting member in an axial direction of the rotor, a plurality of protrusions which protrude inward or outward in a radial direction of the rotor are formed on the rotation-side restricting member at regular intervals in the circumferential direction, a restricting portion which enters between the protrusions in the circumferential direction to restrict movement of the rotation-side restricting member in the circumferential direction is formed in the fixed-side restricting member, and the drive mechanism moves the fixed-side restricting member between a restriction position at which the restricting portion is disposed between the protrusions in the circumferential direction and a restriction release position at which the restricting portion is removed from between the protrusions in the circumferential direction, wherein the drive mechanism comprises: a biasing member which biases the fixed-side restricting member toward one side in the axial direction; and a solenoid which moves the fixed-side restricting member to the other side in the axial direction, wherein the biasing member biases the fixed-side restricting member toward the restriction position, the solenoid moves the fixed-side restricting member at the restriction position to the restriction release position, the fixed-side restricting member is fixed to one end portion of a plunger of the solenoid, a through hole in which the other end portion of the plunger or a pin fixed to the other end portion of the plunger is disposed is formed in the case body, the other end portion of the plunger or a portion of the pin protrudes to the outside of the case body when the fixed-side restricting member is at the restriction position, and the fixed-side restricting member at the restriction position moves to the restriction release position when the other end portion of the plunger or a portion of the pin protruding to the outside of the case body is pushed toward the inside of the case body. ### Claim 2 (depends on 1) The rotary actuator according to claim 1, wherein an outer shape of the restricting portion is circular when viewed from the axial direction, and a diameter of the restricting portion when viewed from the axial direction is substantially half of a distance between the protrusions in the circumferential direction. ### Claim 3 (depends on 1) The rotary actuator according to claim 1, wherein the protrusions protrude outward in the radial direction. ### Claim 4 (depends on 1) A robot comprising a joint portion constituted by the rotary actuator according to claim 1.