CN104589352A - Robot and manufacturing method for robot - Google Patents

Abstract

The present invention provides a robot with a heat dissipation structure against the heat generated by the motor, which is miniaturized, and has a relatively easy-to-manufacture wrist part, and a manufacturing method thereof. The robot is characterized in that it has: a base body, a multi-joint arm, a wrist member (80) connected to the third telescopic rotating shaft (95) of the multi-joint arm, and a wrist member (80) connected to the wrist member (80) in a rotatable manner and installed There is a hand (81) of an end effector, and the wrist part (80) has a motor including a rotor (178), a rotor shaft (180) and a stator (182); and a motor housing recess (170) for positioning and housing the motor , and a heat dissipation groove (177) recessed to the outside of the casing (172) is formed on the side wall of the motor housing recess (170) that holds the motor in a positioned state. Furthermore, a heat dissipation material (99) having a relatively high heat transfer property is filled and solidified between the heat dissipation groove portion and the stator (182) of the motor.

Description

Robot, robot manufacturing method

technical field

The present invention relates to a robot, in particular to a robot with a multi-joint arm and a method for manufacturing the robot.

Background technique

Conventionally, industrial robots have been widely used for automation and labor saving in the assembly process of industrial products in manufacturing sites such as factories, welding processes, and the like. In addition, in recent years, along with the complication of the work process for the miniaturization and high function of industrial products, the demand for multi-axis control robots with multi-joint arms consisting of a large number of links, A multi-joint arm in which arm parts such as joints are combined to be rotatable by a drive shaft (rotation shaft). For example, Patent Document 1 discloses a robot in which a 6-axis multi-joint arm is connected to the left and right sides of a base (main body). Such a 6-axis multi-joint arm is composed of, for example, a shoulder, an upper wrist, a front wrist, and a wrist in order to realize the same movement as a human wrist. An end effector such as a robot hand that executes a predetermined operation performed by the robot is attached to the distal end side of the link that becomes the wrist portion of the multi-joint arm.

In addition, in recent years, in order to make the movement of multi-joint arms closer to that of human wrists, joints for twisting movements have been added to the upper wrist, and arms that alternately connect twisting movements and arms that perform telescopic movements have been developed. A multi-joint arm composed of 7 axes.

In this way, when an industrial robot is to be used to automate tasks conventionally performed manually, a robot that is the same size as a human being, that is, miniaturization is required so that it can be introduced into an existing operation line. In a robot having a multi-joint arm with a 6-axis configuration or a 7-axis configuration as described above, in terms of simultaneously realizing an increase in the degree of freedom of movement of the end effector and miniaturization by driving the multi-joint (multi-axis) arm, the robot In the multi-joint arm of the multi-joint arm, the joint structure that connects and drives the adjacent links in a rotatable manner becomes the dominant factor. In addition, in the multi-joint arm, as a link of the wrist connected to the telescopic rotation shaft on the distal end side to which the end effector is mounted, that is, as a link that connects the hand to which the end effector is mounted so as to be rotatable around the torsional rotation shaft The compactness of the wrist parts of the link is the point.

The wrist part incorporates at least driving elements including a rotor that rotates the hand around the torsional axis, a rotor shaft, a stator, and a motor for the case. Patent Document 2 discloses, for example, a robot in which a part forming the outer shape of an arm part (here, a wrist part) is used as a casing as a structure of a robot that has been suggested to realize the compactness of such a wrist part.

Patent Document 1: Japanese Patent Laid-Open No. 2010-167215

·Patent Document 2: Japanese Patent Application Laid-Open No. 62-241689

Contents of the invention

However, in the wrist member (arm member) described in Patent Document 2, since the housing itself that positions and holds the motor becomes the outer shape of the wrist member, the heat generated by the driving of the motor is directly transferred to the wrist member, thereby causing Mechanical failure may be caused by heat.

In addition, when the driving elements other than the motor such as the position (rotation) detector (encoder) included in the wrist member are also arranged in the case, the heat of the motor may cause the position detector to malfunction, thereby A technical problem that adversely affects the drive of the robot.

The present invention has been made to solve at least a part of the technical problems described above, and the invention can be implemented as the following forms or application examples.

Application example 1

The method of manufacturing a robot according to this application example is characterized in that the robot includes: a base, a multi-joint arm provided on the base, a wrist member connected to the multi-joint arm, and a wrist member rotatably connected to the wrist member. A hand equipped with an end effector, the above-mentioned wrist part has: a motor, which includes a rotor, a rotor shaft, and a stator; The manufacturing method of the robot includes: a casing processing step in which a motor assembly recess including a positioning portion of the stator is formed, a screw hole for a screw fixing the stator assembled to the motor assembly recess is formed, and a motor assembly recess is formed from the motor assembly recess. The side wall of the side wall is recessed to the outer side of the above-mentioned casing for heat dissipation; the stator assembly process, in the stator assembly process, after the above-mentioned stator is positioned at the above-mentioned positioning part of the above-mentioned motor assembly recess, the above-mentioned stator is fixed by the above-mentioned screw; the heat-dissipating member is injected A step of injecting a heat radiating member that has fluidity and high heat transfer properties under normal conditions into the gap between the stator and the above-mentioned heat radiating groove in the heat radiating member injection step; The above-mentioned heat-dissipating member is solidified in the middle.

According to this application example, by using a relatively simple process such as known cutting processing, it is possible to manufacture a more compact motor than in the conventional configuration where the motor positioned and housed in the case is further housed in a part that forms the outer shape of the wrist part. Customized wrist parts.

In addition, in this application example, the heat generated by the driving of the motor can be dissipated by the heat dissipation member, so compared with the case where the heat is directly transferred to the wrist member, the heat generation of the wrist member can be suppressed, thereby reducing the Mechanical failure caused by heat from the driving elements of the wrist parts inside the case. For example, when the driving elements other than the motor such as the position (rotation) detector (encoder) included in the wrist member are also arranged in the case, it is possible to suppress the driving of the position detector and the like due to the heat generated by the motor. The drive failure of the robot caused by the wrong operation of the element.

Therefore, it is possible to provide a small and lightweight robot capable of performing various and delicate tasks with high precision.

Application example 2

In the method of manufacturing a robot described in the above application example, it is preferable to use metal paste as the heat dissipation member.

For example, silver paste has high thermal conductivity, so it can improve the heat dissipation effect, and silver paste is a widely used material in the past, so it is easy to manufacture due to its excellent operability such as coating with a liquid dispenser, so it is preferred as a heat dissipation material.

Application example 3

The robot described in this application example is characterized in that the robot includes: a base, a multi-joint arm provided on the base, and a wrist part constituting a part of the multi-joint arm, and the wrist part includes: a motor including a rotor, a rotor shaft , and a stator; and a housing, which has a motor receiving recess for positioning and accommodating the above-mentioned motor, and forms the outer shape of the above-mentioned wrist member, and the above-mentioned housing forms a motor assembly recess that includes the positioning portion of the above-mentioned stator, and is used for fixing and assembling to the above-mentioned motor The holes of the stator in the assembly recess and the heat dissipation grooves on the side walls of the motor assembly recess are filled with a heat dissipation material.

According to this application example, compared with the conventional structure in which the motor positioned and housed in the case is further housed in a part that forms the outer shape of the wrist part, it is possible to manufacture a more compact wrist part, and it is possible to use the heat dissipation member to make the motor The heat generated by the drive can be dissipated, so that the heating of the wrist part can be suppressed, thereby reducing the mechanical failure caused by the heat of the driving elements of the wrist part arranged in the housing.

Therefore, it is possible to provide a small and lightweight robot capable of performing various and delicate tasks with high precision.

Application example 4

In the robot described in the above application example, it is preferable that the heat dissipation member is formed by filling and curing a metal paste.

According to this application example, the silver paste has high thermal conductivity, so it can achieve a good heat dissipation effect, and it is a material that has been widely used in the past, so it is excellent in workability, and can provide a small size that can perform various and delicate tasks with high precision. · Lightweight robots.

Application example 5

The robot described in the above application example is characterized in that a plurality of the multi-joint arms are provided on the base.

According to this application example, a small and light-weight articulated arm is equipped with a structure that ensures a large movable area, suppresses singularities, and dissipates heat generated by driving a motor, as described in the above-mentioned application examples. Therefore, it is possible to provide a small robot capable of performing various and delicate tasks with high precision.

Description of drawings

FIG. 1 is a perspective view schematically showing a schematic configuration of a robot according to Embodiment 1. As shown in FIG.

2 is a partial cross-sectional view schematically showing the front structure of an actuator as an example of the joint drive mechanism of the robot according to the first embodiment.

FIG. 3 is a perspective view schematically showing the structure of a drive transmission unit of the robot according to Embodiment 1. FIG.

4 is a partial cross-sectional view schematically showing the structure of a joint drive mechanism of a wrist member in the robot according to Embodiment 1. FIG.

5 is a partial cross-sectional view schematically showing the structure of the joint drive mechanism of the wrist member according to the robot according to Embodiment 1, which is a different cross-section from FIG. 4 .

Fig. 6 is a perspective cross-sectional view schematically showing an internal shape by cutting the casing of the wrist member according to Embodiment 1 into roughly half.

FIG. 7 is a flowchart showing a method of manufacturing a robot according to Embodiment 1. FIG.

FIG. 8 is an explanatory diagram schematically showing a robot according to Embodiment 2. FIG.

Detailed ways

Embodiment 1

Hereinafter, a schematic configuration of the robot according to Embodiment 1 will be described with reference to the drawings. However, in order to make the described parts recognizable, the drawings used are displayed enlarged or reduced locally.

FIG. 1 is a perspective view schematically showing a schematic configuration of a robot according to the first embodiment. In addition, the "rotation" in embodiment means forward rotation and reverse rotation.

The robot 10 shown in FIG. 1 is a six-axis vertical articulated robot having six basic drive axes, that is, rotation axes, and is configured to imitate the structure of a human wrist. The link (wrist tree) of the wrist is connected in series by a plurality of joints (joints, joints) serving as the wrist, so complex operations can be performed with a high degree of freedom.

The robot 10 has: a base part 70 as a base, a main body part 71, a control part 72, a link 73 as an arm part, a link 74, a link 75, a link 76, a link 77, a link 78, a link 79. A wrist member (connecting rod) 80, and a hand (connecting rod) 81 equipped with an end effector (not shown), and the adjacent connecting rods and/or coupling parts are connected to each other in a rotatable manner through a joint mechanism multi-joint arm.

The base part 70 is a pedestal of the robot 10, and is firmly fixed to a flat surface such as a floor or a workbench of a working space in a factory by a plurality of bolts (screws). In addition, the fixed place is not limited to the horizontal plane (including the plane of the X-axis and the Y-axis), as long as it has the strength to bear the weight of the robot 310 and can withstand vibration, it can also be on a movable trolley, a wall, a ceiling, or The arm connection part etc. provided in the robot unit as mentioned later.

Although not shown in the figure, in addition to an operation panel for operating the robot 10, the control unit 72 is provided with interface terminals such as RS232C and USB (Universal Serial Bus) for inputting operation programs. Alternatively, it may also be configured to include interface devices such as a wireless LAN (Local Area Network) terminal and an infrared transceiver.

In addition, the control part 72 may be provided independently from a robot main body.

A coupling 73 and a link 74 are arranged on the main body 71 according to the arrangement of the coupling 73 and the link 74 .

First, the multi-joint arm structure (from the arm to the hand) from the link 73 to the wrist member 80 of the robot 10 rotates horizontally around the first rotation axis 91 penetrating the main body 71 in the Z-axis direction. That is, the coupling member 73 performs a twisting motion of turning in a twisting direction around the first rotation axis with respect to the main body portion 71 .

In addition, the hand 81 to which the end effector is attached is one end (terminus) of the multi-joint arm structure, and the joint 73 attached to the main body 71 (the base portion 70 side) corresponds to the other end (base) of the robot arm structure. In addition, in the following description, the side close to the hand part 81 of a robot arm structure is called a "tip side", and the side close to the base part 70 is called a "root side".

In addition, a motor for rotationally driving the robot arm structure, a speed reducer mechanism including a plurality of gears, and the like are provided on the main body portion 71 . In addition, a motor for driving the above-mentioned link and the end effector, a reduction mechanism, and the like are also provided in the vicinity of each rotation shaft described below.

A joint 75 is combined on the distal end side of the link 74 arranged to extend toward the distal end side of the joint 73 . The coupler 75 is driven to rotate about a first telescopic rotation shaft substantially perpendicular to the first rotation shaft 91 and a first telescopic rotation shaft 92 penetrating through the link 74 in the X-axis direction. The first telescoping rotation shaft 92 is located on the distal end side of the link 74 . Here, "approximately orthogonal" is defined to include structures intersecting within a range of 10° in addition to completely orthogonal structures.

In addition, in the multi-joint arm of the present embodiment, the telescopic rotation shafts substantially parallel to the first telescopic rotation shaft 92 are named first to nth telescopic rotation shafts in order from the main body side. Here, "approximately parallel" is defined to include not only a completely parallel structure but also a structure intersecting within a range of 10°.

In addition, when the robot moves, the extension direction of the rotation shaft changes (for example, when rotating (twisting) around the first rotation shaft 91), so the description will be made on the premise that the state shown in FIG. 1 is set in the initial state. .

The link 76 is arranged to extend toward the distal end side of the joint 75 .

A joint 77 is assembled on the distal end side of the link 76 , and a link 78 is assembled on the distal end side of the joint 77 . The link 78 is arranged to extend toward the distal end side of the joint 77 . The joint 77 assembled with the link 78 is driven around the second telescopic rotation shaft 393 penetrating through the distal end side of the link 76 in the X-axis direction.

Furthermore, a joint 79 in which the drive transmission part 50 and the electrical part 60 are provided is combined on the distal end side of the link 78 . The link 79 is driven to rotate around the twist rotation shaft 94 passing through the distal end side of the link 78 in the Y-axis direction, and the link 79 is rotated in the twist direction relative to the link 78 .

In addition, a wrist member 80 is combined on the distal end side of the joint 79 and is driven around a third telescopic rotation axis 95 penetrating the distal end side of the joint 79 in the X-axis direction.

A hand 81 is disposed on the distal end side of the wrist member 80 so as to extend along the wrist member 80 . The hand 81 is driven such that the distal end side of the wrist member 80 faces from the wrist member 80 in the Y-axis direction along the direction in which the hand 81 extends, that is, with the twisted rotation shaft 396 penetrating through the approximate center of the cylindrical hand 81 as At the center, the hand 81 turns in a twisting direction relative to the wrist member 80 .

As described above, an end effector (not shown) as a mechanism for performing a predetermined task performed by the robot 10 is combined on the terminal side of the multi-joint arm. As the end effector, various types of components can be used depending on the application of the robot 10 . For example, by attaching a grasping mechanism such as a robot hand for grasping components of a manufactured product, or tools for performing processes such as soldering and welding to the distal end of the hand 81 , it can be used as the robot 10 for performing various tasks.

Next, in the joint driving mechanism of the multi-joint arm of the robot 10 having the above configuration, the adjacent wrist members (links, joints) other than the wrist member 80 and the joint driving mechanism of the hand 81 are rotatable. An example of a joint drive mechanism linked in the same way will be described.

First, the joint driving mechanism of the rotation shaft (joint) different from the third telescopic rotation shaft 95 which is the telescopic rotation shaft at the end of the multi-joint arm will be described with reference to the drawings. FIG. 2 is a partial cross-sectional view schematically showing the front structure of an actuator 2 as a joint driving mechanism. In addition, in FIG. 2 , in each joint of a multi-joint arm, the wrist member (link or joint) on the base side is referred to as a base point link 110, and the wrist member on the distal side that rotates relative to the base point link 110 The wrist member is described as the rotating link 112 .

In FIG. 2 , the actuator 2 is composed of a motor 22 , a speed reducer 24 , a speed reducer output bushing 26 , a speed reducer output shaft 30 , and a transmission shaft 34 having at least a motor frame 33 of the motor 22 as a part.

The motor 22 includes a rotor 38 , a rotor shaft 40 , a stator 43 , and a motor frame 33 . The rotor shaft 40 of the motor 22 is connected to the inside of the speed reducer 24 at the input shaft of the speed reducer 24 . A stator 43 and a motor frame 33 are provided on the outer periphery of the rotor 38 . The rotational force of the rotor shaft 40 is transmitted to the speed reducer 24, and the speed reducer 24 outputs a torque output that increases the torque of the rotational force.

The frame 36 of the speed reducer 24 is connected with the motor frame 33 (or transmission shaft 34 ) of the motor 22 . The speed reducer 24 decelerates the rotation from the motor 22 and increases the torque output of the rotation to output it. The speed reducer 24 incorporates a gear mechanism (not shown) that decelerates the rotation of the input shaft, and a joint bearing mechanism (not shown) that supports the speed reducer output shaft 30 . The gear mechanism of the speed reducer 24 can use a wave gear, and can also use other speed reducer mechanisms.

The reducer output sleeve 26 is connected to the reducer output shaft 30 and is arranged on the outer periphery of the reducer 24 or the transmission shaft 34 . The reducer output sleeve 26 prevents the pipeline 28 from contacting the reducer 24 . Here, the pipeline 28 is at least one of wiring and piping. In addition, pipelines are collectively referred to as power lines (electric wires), signal lines, gas piping for transporting gas, liquid piping for liquid transport, and the like. Piping for gas also includes piping for vacuum.

The reducer output shaft 30 transfers the torque output from the reducer 24 to the rotating link 112 . A reducer output shaft outer cylinder 16 connected to the reducer output shaft 30 is arranged on the outer periphery of the reducer output shaft 30 . A rotary link 112 , a reducer output shaft outer cylinder 16 , and a reducer output sleeve 26 are connected to the reducer output shaft 30 . The reducer output shaft 30 transmits the increased torque output to the rotating link 112 . The speed reducer output shaft 30 is intended for all components that transmit the torque output from the speed reducer 24 to the rotary link 112 .

The transmission shaft 34 is a component that connects the frame 36 of the speed reducer 24 and the base link 110 . The transmission shaft 34 has at least the motor frame 33 as a part. For example, the transmission shaft 34 and the motor frame 33 are integrally constructed. As a result, heat dissipation characteristics are improved by integration, and high-load driving is possible. The transmission shaft 34 doubles as the motor frame 33 of the motor 22, and the rotor 38, the rotor shaft 40, and the stator 43 constituting the motor 22 are disposed therein. The transmission shaft 34 is connected with the base point connecting rod 110 . The transmission shaft 34 transmits the reaction force of the torque output from the frame 36 of the speed reducer 24 to the base link 110 , so that the rotation link 112 and the base link 110 rotate mutually. The transmission shaft outer cylinder 14 connected to the transmission shaft 34 is arranged on the outer periphery of the transmission shaft 34 .

In addition, the rotation speed detection part (position detector) 44 and the mechanical brake 46 are provided in the actuator 2, and the installation position may be other than the illustrated position.

The rotational speed detection unit 44 may also be arranged inside the base link 110 . Thereby, the length between the base point link 110 and the rotation link 112 can be shortened, and the actuator 2 which is a joint drive device can be downsized. The rotational speed detection unit 44 may have a unit structure or a modular structure.

Also can speed reducer output shaft 30 constitute central part by hollow structure, the rotating shaft of motor 22 passes through the middle part of the hollow structure of speed reducer output shaft 30 and is connected with the input shaft of mechanical brake 46, and the frame of mechanical brake 46 is arranged on the rotating joint. inside of rod 112 . Thereby, the length between the base point link 110 and the rotation link 112 can be shortened, and the actuator 2 which is a joint drive device can be downsized.

Next, details of the drive transmission unit 50 , which is a joint drive mechanism that drives the telescopic rotation shaft at the distal end side in the multi-joint arm of the robot 10 , will be described in detail with reference to the drawings.

3 is a perspective view schematically showing the structure of the drive transmission part 50 that expands and contracts the wrist member 80 with respect to the joint 79 of the robot 10, and parts other than the drive transmission part 50 are partially omitted, and for the convenience of description, A part of the structure of the drive transmission part 50 inside the coupling 79 is shown in perspective.

In the multi-joint arm of the robot 10 having a multi-joint arm with a plurality of joint drive mechanisms connected by the above-mentioned plurality of links, joints, etc., the telescopic rotation shaft on the distal end side, that is, The drive transmission part 50 of the joint drive mechanism which serves as the 3rd telescopic rotation shaft 95 of a rotation shaft is provided in the joint 79 (refer FIG. 1). More specifically, the drive transmission unit 50 is disposed on one of side surfaces in a direction substantially perpendicular to the third telescopic rotation axis 95 of the joint 79 . In addition, "approximately orthogonal" in the present embodiment includes not only completely orthogonal structures but also structures intersecting within a range of 10°.

In FIG. 3 , which shows the details of the drive transmission unit 50 including the third telescopic rotating shaft 95 , the joint 79 has: a driven pulley 86 as a driven wheel that rotates the third telescopic rotating shaft 95 as a rotating shaft; The motor 80M as the drive rotation source of the third telescopic rotation shaft 95; the drive shaft 97 that is rotated by the motor 80M around the same rotation shaft as the third telescopic rotation shaft 95; and the drive shaft 97 that is driven by the motor 80M. The drive pulley 85 of the wheel. In addition, the rotational speed detection part (position detector) 80D is provided in the vicinity of the motor 80M, and the installation position may be other than the illustrated position. The rotational speed detection unit 80D may have a unit structure or a modular structure.

Further, the driving pulley 85 and the driven pulley 86 are connected via a timing belt 87 which is an endless power transmission cable. In addition, between the drive pulley 85 and the driven pulley 86 , an idler pulley 88 having a pulley rotatably contacting with the movement of the timing belt 87 is arranged for adjusting the tension of the timing belt 87 .

The robot 10 having the configuration described above is not limited to an industrial robot, but may be a medical robot or a household robot.

According to the drive transmission part 50 provided on the coupling member 79 described above, compared with the structure in which the motor as a driving rotation source is also directly connected to the third telescopic rotation shaft 95, the wrist member with the third telescopic rotation shaft 95 is realized. The miniaturization of the joint 79. Specifically, it is possible to suppress an increase in the width of the link 79 in the arm width direction perpendicular to the extending direction of the multi-joint arm due to the arrangement of the motor in the axial direction of the third telescopic rotation shaft 95 .

Next, the details of the structure of the wrist member which is the main part of the robot of this embodiment will be described.

FIG. 4 is a partial cross-sectional view schematically showing the structure of the joint drive mechanism of the wrist member 80 of the robot 10 according to the embodiment. In addition, FIG. 5 is a partial cross-sectional view illustrating the structure of the joint drive mechanism of the wrist member through a different cross-section from FIG. 4 .

In FIG. 4 , the wrist member 80 has a bearing portion 89P. The other end of the shaft 83 is attached to the bearing portion 89P, and one end of the shaft 83 is attached to the driven pulley 86 of the drive transmission portion 50 of the joint 79 . Thus, the wrist member 80 is cantilever-supported by the bearing portion 89P of the coupling 79 on the drive transmission portion 50 side via the shaft 83 and the bearing 89 . With this configuration, the width of the telescopic rotation axis (in the direction of the third telescopic rotation axis 85 in the figure) of the wrist portion (wrist member 80 ) of the robot 10 can be reduced, which contributes to miniaturization of the robot 10 . In the present embodiment, the electric device 60 is arranged in the space on the opposite side of the wrist member 80 of the drive transmission part 50 with the joint member 79 interposed therebetween. 81 and a drive system such as an end effector installed there, a relay board (not shown) and the like for transmitting drive power and electric signals.

The wrist member 80 is configured as a motor that includes at least a rotor 178, a rotor shaft 180, and a stator 182, a speed reducer 164, and a speed reducer output shaft 160 that are housed in a motor housing 172 that is a motor housing of the motor in a positioned state. The recessed portion 170 is accommodated.

In the motor housing recess 170 provided in the case 172, the hand 81 side is used as the recessed bottom portion 170A of the motor housing recess 170, and a first stepped portion that gradually expands from the hand 81 side to the main body 71 side (root side) is formed. 170B, the second stepped portion 170C, and the third stepped portion 170D.

The rotor shaft 180 of the motor is connected to the inside of the speed reducer 164 at the input shaft of the speed reducer 164 , and is connected to the bearing 53 disposed on the casing. A rotor 178 is provided on the outer periphery of the rotor shaft 180 . In addition, a stator 182 is provided on the outer periphery of the rotor 178 . These motors equipped with the rotor shaft 180, the rotor 178, and the stator 182 are positioned by the recessed bottom 170A and the first stepped portion 170B of the motor housing recess 170 of the housing 172 as positioning portions, and the screws of the screws 98 screwed into the screw holes 175 are positioned. The head and the coupling pin provided on the rotor shaft 180 are held rotatably.

The rotational force of the rotor shaft 180 is transmitted to the speed reducer 164, and the speed reducer 164 outputs a torque output that increases the torque of the rotational force.

The frame 166 of the reducer 164 is connected to the motor frame of the electric motor, ie the housing 172 . The speed reducer 164 decelerates the rotation from the motor, thereby increasing and outputting the torque output of the rotation. The speed reducer 164 incorporates a gear mechanism (not shown) that decelerates the rotation of the input shaft, and a joint bearing mechanism (not shown) that supports the speed reducer output shaft 160 . The reducer output shaft 160 is connected to the bearing 57 arranged in the hand 81 .

In addition, the wrist member 80 is provided with a mechanical stopper 186 connected to the rotor shaft 180 via the bearing 54 and the coupling nut 55, and a rotational speed detection unit (position detector) 184, and the positions where these are provided may be the positions shown in the figure. outside. In the present embodiment, the mechanical brake 186 is housed in the motor housing recess 170 of the case 172 by using the second stepped portion 170C as a positioning portion, and the rotational speed detection unit 184 is housed in the third step portion 170D of the motor housing recess 170 of the case 172 . The rotor shaft 180 is connected to the space in the lid portion 189 of the motor housing recess 170 provided as a positioning portion. In addition, the rotational speed detection unit 184 may have a unit structure or a module structure.

5 is a view of the structure of the joint drive mechanism of the wrist member 80 viewed from a cross section different from that of FIG. 4 . Specifically, it describes a cross section different from the part where the screw hole 175 for holding the motor with the screw 98 is formed. diagram.

In FIG. 5 , a motor including a rotor shaft 180 , a rotor 178 , and a stator 182 has a heat dissipation groove 177 recessed toward the outside of the housing 172 on the side wall of the motor housing recess 170 held in a positioned state. Then, a heat dissipation member 99 having relatively high thermal conductivity is filled and solidified between the heat dissipation groove portion and the stator 182 of the motor.

Metal paste is preferable as heat dissipation member 99 filled between heat dissipation groove portion 177 and stator 182 , and silver paste is particularly preferable. Since silver paste has high thermal conductivity, it is possible to improve the heat dissipation effect, and in the past, it is widely used as a metal paste material, so it is excellent in workability and thus can improve manufacturing efficiency.

According to the robot 10 including the wrist member 80 of the present embodiment, it is possible to provide a more compact wrist member 80 than in the conventional member structure in which a motor positioned and accommodated in a case is further accommodated to form the outer shape of the wrist member.

And, the side wall of the motor (stator 182) periphery of the motor (stator 182) of the motor housing recess 170 of the housing 172 is provided with a heat radiation groove portion 177, and a heat radiation member 99 such as silver paste is filled and solidified in the gap between the heat radiation groove portion 177 and the motor, Therefore, the heat generated by the driving of the motor can be dissipated by the heat dissipation member 99 .

Therefore, the heat generation of the wrist member 80 can be suppressed, thereby reducing mechanical failures caused by the heat of the driving elements of the wrist member 80 arranged in the housing 172, so that various and delicate operations can be performed with high precision. A small and light robot 10 .

Next, a method of manufacturing the robot according to Embodiment 1, particularly a method of manufacturing the wrist member 80 will be described. FIG. 6 is a perspective cross-sectional view schematically showing an internal shape by cutting the outer shell 172 of the wrist member 80 according to the embodiment into roughly half. In addition, FIG. 7 is a flowchart showing a method of manufacturing the robot (wrist member 80 ) according to the embodiment.

In the method of manufacturing wrist member 80 according to the present embodiment shown in FIG. 6 , first, in step S1 , the material for forming case 172 is subjected to cutting, etc., so that motor housing recess 170 and screw holes are formed together with the outer shape of case 172 . 175 and the groove portion 177 for heat dissipation. In this way, the casing 172, especially the motor housing recess 170, the screw hole 175, and the heat dissipation groove 177 can be formed by the same machine tool and the same process, so the efficiency is high.

Here, when forming a plurality of heat dissipation grooves 177 , it is not necessary to make all the heat dissipation grooves 177 have the same shape. For example, as shown in FIG. 6 , a deep heat dissipation groove 177 and a shallow heat dissipation groove 177 ′ may be formed toward the bottom portion 170A of the motor housing recess 170 . In addition, the depths of the heat dissipation grooves 177 and 177 ′ from both sides of the stator 48 (see FIGS. 4 and 5 ) toward the outside of the case 172 may also be changed. In short, in order to make the end effector attached to the hand 81 connected to the wrist member 80 perform a predetermined work movement, the heat dissipation is determined within the range of rigidity that can withstand the force of the moment applied to the wrist member. Use the shape and size of the grooves 177, 177' and other cutouts. For example, the total size (volume) of the plurality of heat dissipation grooves 177, 177' is set to be 50% to 70% of the volume of the motor housing recess 170, thereby ensuring heat dissipation, rigidity, or the stability of the motor described later. Press-in operability, etc.

Next, in step S2, the motor which consists of the rotor shaft 180, the rotor 178, and the stator 182 is press-fitted in the motor housing recessed part 170 formed in the housing 172. As shown in FIG. The motor (stator 182) is positioned on the bottom portion 170A of the motor storage recess 170 and the positioning portion 473 on the side of the first stepped portion 170B, and is fixed to the motor storage recess 170 of the housing 172 by the screw head of the screw 98 screwed.

Next, in step S3, a heat radiation member 99 such as silver paste is injected between the motor (stator 182) and the heat radiation grooves 177, 177'. The injection of the heat radiating member 99 can be performed by a conventional method using a liquid dispenser, for example. At this time, insert the needle of the liquid dispenser to the vicinity of the bottom of the heat dissipation grooves 177, 177' (recess bottom 170A of the motor housing recess 170) side, and then pour into the heat dissipation member 99, thereby suppressing the entrainment of air bubbles.

Next, in step S4, the heat radiation member 99, such as silver paste, is solidified. The curing of the heat dissipation member 99 takes various methods depending on the type of curing of the heat dissipation member 99 used. For example, if it is a heat-curing type heat dissipation member 99, it puts into an oven etc., and performs predetermined heating. In addition, in the case of a photocurable heat dissipation member 99 , light of a predetermined wavelength such as ultraviolet rays is irradiated to cure the heat dissipation member 99 .

Next, as shown in step S5 , joint drive components other than motors such as reducers and mechanical brakes are assembled to the casing 172 , and a series of manufacturing methods of the wrist member 80 is completed.

As mentioned above, according to the manufacturing method of the wrist member 80 of the robot 10 of the present embodiment described above, the motor positioned and housed in the casing is further housed in the wrist part as in the conventional case by using a relatively simple process such as known cutting processing. Compared with the structure of the parts of the outer shape of the parts, it is possible to manufacture and provide the wrist part 80 which is more miniaturized.

In addition, in this application example, the heat generated by the driving of the motor can be dissipated through the heat dissipation grooves 177, 177' formed around the motor and the heat dissipation member 99 filled therein, so that the heat is directly transmitted to the wrist. Compared with the case of the wrist member 80 , heat generation of the wrist member 80 can be suppressed, and mechanical failures due to heat generated by the driving elements of the wrist member 80 arranged in the housing 172 can be reduced.

Embodiment 2

Next, Embodiment 2 of the robot will be described with reference to the drawings.

FIG. 8 is an explanatory diagram schematically showing a robot according to Embodiment 2. FIG. In addition, the same reference numerals are assigned to the same constituent parts as in the 3-1 embodiment, and overlapping descriptions are omitted.

In FIG. 8 , a robot 200 according to Embodiment 2 is a dual-arm robot in which two first robot arms 10A and second robot arms 10B having the same configuration as robot 10 according to Embodiment 1 are provided on a main body 213 .

The robot 200 has: a stand 212, which supports the robot 200; a columnar main body 213, which is fixed to the stand 212; and a first arm link 215A and a second arm link 215B, which are approximately It protrudes at a right angle on the upper part of the main body part 213 on the side opposite to the stand 212 side.

The side on which the first robot arm 10A is installed on the side opposite to the side of the main body 213 of the first arm connecting portion 215A has a rotatable first rotation axis J0AL penetrating in the direction in which the first arm connecting portion 215A protrudes. An arm fixing part J0A. Further, the main body portion 71 of the first robot arm 10A having the same structure as the robot 10 of the above-mentioned embodiment is fixed to the first arm fixing portion J0A.

Similarly, the second arm connecting portion 215B on the side opposite to the main body portion 213 side on which the second robot arm 10B is installed has a 0th rotation axis J0BL that can penetrate around the protruding installation direction of the second arm connecting portion 215B. Rotate the second arm fixed part J0B. Further, the main body portion 71 of the second robot arm 10B having the same structure as that of the robot 10 of the first embodiment described above is fixed to the second arm fixing portion J0B.

For the first robot arm 10A and the second robot arm 10B controlled by six axes, there are respectively the 0th rotation axis J0AL and the 0th rotation axis J0BL around the first arm fixing part J0A and the second arm fixing part J0B, so that actually As the seven-axis controlled robot 200 , it is possible to move the first robot arm 10A and the second robot arm 10B on multiple tracks with a high degree of freedom.

According to the robot 200 of the second embodiment, the first robot arm 10A and the second robot arm 10B having the same structure as the robot 10 described in the first embodiment can be provided, so that it is possible to provide a small robot that can perform various and delicate tasks with high precision. Two-arm robot 200.

In addition, this invention is not limited to the said embodiment, Various changes, improvements, etc. can be added to the said embodiment. Modifications will be described below.

For example, in the above embodiment, the gist has been described that metal paste such as silver paste is preferable as heat radiating member 99 , but various members other than metal paste can also be used as heat radiating member 99 .

For example, a thermally conductive fleece in which carbon, aluminum, or the like is dispersed with a silicone oil base can also be used in a fluid such as metal paste.

In addition, if it is solid, graphite sheet, thermosetting silicone rubber, or relatively soft metal such as indium can be used.

In addition, the shape of the heat dissipation grooves 177, 177' is not limited to the shape shown in Embodiment 1. For example, by forming the heat dissipation grooves 177, 177' with fine unevenness, it is possible to make the heat dissipation grooves The surface area of the portions 177 and 177 ′ is increased to improve the heat dissipation property and the adhesion of the heat dissipation member 99 .

In addition, the robot 200 of the above-mentioned second embodiment has described the configuration of a dual-arm robot having two arms, the first robot arm 10A and the second robot arm 10B. However, it is not limited thereto, and it may also be configured to have three or more robot arms.

Explanation of reference numerals

10,20...Robot; 2...Actuator; 10A...First mechanical arm; 10B...Second mechanical arm; 44,65...Rotation speed detection part; 46...Mechanical brake; 50...Drive transmission part; 53, 54, 57 , 89…Bearing; 55…Coupling nut; 60…Electronic part; 70…Base part as base body 71…Body part as base body; 72…Control part; ;74, 76, 78...Connecting rod as wrist part; 80...Wrist part; 80M...Motor; 81...Hand; 83...Shaft; 85...Drive pulley; 86...Driven pulley; 87...Timing belt; 88...Idler gear; 89P...Bearing section; 91...First rotating shaft; 92...First telescopic rotating shaft; 93...Second telescopic rotating shaft; 94, 96...Twisting rotating shaft; 95...Third telescopic rotating shaft; 97 ...drive shaft 98...screw; 99...radiating part; 110...base point link; 112...rotating link; 170...motor storage recess; 170A...concave bottom; 170B...first step part; 170C...second step part; 170D ...the third step part; 172...the casing; 175...the screw hole; 177, 177'...the groove for heat dissipation; 178...the rotor; 180...the rotor shaft; 182...the stator; 184...the speed detection part; 186...the mechanical brake; ...cover part; 211...stand; 213...main body; 215A...first arm connection part; 215B...second arm connection part.

Claims (5)

1. a manufacture method for robot, is characterized in that, described robot has matrix, be arranged at the multiple joint manipulator of described matrix, be linked to the wrist part of described multiple joint manipulator, and be rotatably linked to described wrist part and the hand of end effector is installed

Described wrist part has:

Motor, it comprises rotor, armature spindle and stator; And

Shell, it has and positions and the motor accommodating recess of accommodating described motor, and forms the profile of described wrist part,

The manufacture method of described robot comprises:

Shell manufacturing procedure, the motor assembling recess comprising the location division of described stator is formed in this shell manufacturing procedure, fixedly be assembled into the screw of screw of the described stator of described motor assembling recess, and from the sidewall of described motor assembling recess to the heat transmission groove portion caved in the outside of described shell;

Stator assembling procedure, in this stator assembling procedure after the described location division of described motor assembling recess is by described stator location, fixes described stator by described screw;

Thermal component injection process, will have mobility under normal conditions in this thermal component injection process and the high thermal component of heat transmitting injects gap between described stator and described heat transmission groove portion; And

Thermal component curing process, makes described thermal component solidify in this thermal component curing process.

2. the manufacture method of robot according to claim 1, is characterized in that,

Use metal paste as described thermal component.

3. a robot, is characterized in that, described robot: matrix, is arranged at the multiple joint manipulator of described matrix, and the wrist part of a part for formation multiple joint manipulator,

Described wrist part possesses:

Motor, it comprises rotor, armature spindle and stator; And

Shell, it has and positions and the motor accommodating recess of accommodating described motor, and forms the profile of described wrist part,

Described shell forms the motor assembling recess comprising the location division of described stator, for being fixedly assembled into the hole portion of the described stator of described motor assembling recess, in the heat transmission groove portion of the sidewall heat radiation of described motor assembling recess, and be filled with heat sink material in described heat transmission groove portion.

4. robot according to claim 3, is characterized in that,

Described thermal component is by filling metal paste and making it to be solidified to form.

5. the robot according to claim 3 or 4, is characterized in that,

Described matrix is provided with multiple described multiple joint manipulator.