WO2014155523A1 - Fastening body and robot - Google Patents

Abstract

A fastening body according to an embodiment is provided with a pair of fastening members (21, 22) and an interposed member (23). The pair of fastening members (21, 22) are fastened together with the fastening surfaces (21e, 22e) thereof arranged facing each other. The interposed member (23) is provided between the fastening surfaces (21e, 22e) of the pair of fastening members, and a fiber structure (23b) which is adhered to the fastening surface (21e) by intermolecular attraction is formed on one (23e) or both surfaces (23e, 23f) which face the fastening surfaces (21e, 22e).

Description

Fastening body and robot

The disclosed embodiment relates to a fastening body and a robot.

Conventionally, a fastening body including a pair of fastening members that are fastened by bringing the fastening surfaces into contact with each other has been proposed (see, for example, Patent Document 1). In the technique described in Patent Document 1, the fastening body is a shaft joint, and the fastening surface of the fastening member on the drive shaft side and the fastening surface of the fastening member on the driven shaft side are brought into contact with each other and fastened with bolts. It is comprised so that the torque of a drive shaft may be transmitted to a driven shaft.

JP 2010-196761 A

By the way, in the above-described fastening body, the torque that can be transmitted from one (driving shaft) of the pair of fastening members to the other (driven shaft) is proportional to, for example, the coefficient of friction between the fastening surfaces of the fastening members. Therefore, in the fastening body, an increase in the coefficient of friction between the fastening surfaces has been desired in order to improve torque transmission.

One aspect of the embodiment has been made in view of the above, and can increase the coefficient of friction between the fastening surfaces of the pair of fastening members and improve the transmission of torque from one of the fastening members to the other. It is an object of the present invention to provide a fastening body and a robot capable of performing the above.

A fastening body according to an aspect of the embodiment includes a pair of fastening members and an insertion member. The pair of fastening members are fastened with their fastening surfaces facing each other. The insertion member is inserted between the fastening surfaces of the pair of fastening members, and at least one of the surfaces facing the fastening surfaces is formed with a fiber structure that adheres to the fastening surfaces by intermolecular attractive force. The

According to one aspect of the embodiment, in the fastening body and the robot, the friction coefficient between the fastening surfaces of the pair of fastening members can be increased, and the transmission of torque from one of the fastening members to the other can be improved.

FIG. 1 is a schematic side view showing a robot including a fastening body according to the first embodiment. FIG. 2 is an exploded schematic perspective view of the robot shown in FIG. FIG. 3 is a partially enlarged schematic perspective view showing the robot shown in FIG. 2 in an enlarged manner. 4 is a schematic cross-sectional view of the fastening body in the YZ plane, and is a schematic cross-sectional view taken along line IV-IV in FIG. FIG. 5A is a schematic cross-sectional view showing the insertion member shown in FIG. FIG. 5B is a schematic left side view of the insertion member shown in FIG. 5A. FIG. 6 is an exploded schematic perspective view illustrating a modified example of the robot including the fastening body according to the first embodiment. FIG. 7 is a partially enlarged schematic perspective view showing the robot shown in FIG. 6 in an enlarged manner. FIG. 8 is a schematic left side view showing a modified example of the insertion member. FIG. 9 is a schematic cross-sectional view in the YZ plane showing the fastening body according to the second embodiment. 10A is a schematic cross-sectional view showing the insertion member shown in FIG. FIG. 10B is a schematic left side view of the insertion member shown in FIG. 10A. FIG. 11 is a schematic perspective view showing a fastening body fastened by press-fitting.

Hereinafter, embodiments of a fastening body and a robot disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

(First embodiment)
First, a robot provided with a fastening body according to the first embodiment will be described. FIG. 1 is a schematic side view showing the robot. For easy understanding, FIG. 1 shows a Z-axis in which the vertical upward direction is a positive direction and a vertical downward direction is a negative direction, the left-right direction on the paper surface is the Y-axis, and the front to back direction is the X-axis. A three-dimensional orthogonal coordinate system is illustrated. Such an orthogonal coordinate system may also be shown in other drawings used in the following description.

In the following description, the configuration of the robot and the like will be described using expressions such as “X-axis direction”, “Y-axis direction”, and “Z-axis direction”. It means “axial direction”, “Y-axis direction”, and “Z-axis direction”, and is not limited to that direction.

As shown in FIG. 1, the robot 1 is an articulated robot having a plurality of links and a plurality of joint axes J1 to J6 (hereinafter also referred to as “rotation axes”) connecting the links. The robot 1 includes, as links, a base 10, a turning part 11, a lower arm 12, an upper arm 13, a first wrist part 14, a second wrist part 15, and a third wrist part 16. These are rotatably connected to each other.

Specifically, the swivel unit 11 is connected to the base 10 so as to be rotatable about the rotation axis J1, and the lower arm 12 is rotatable relative to the swivel unit 11 about the rotation axis J2 perpendicular to the rotation axis J1. Connected to The upper arm 13 is connected to the lower arm 12 so as to be rotatable around a rotation axis J3 parallel to the rotation axis J2. The first wrist 14 is perpendicular to the rotation axis J3 with respect to the upper arm 13. It is connected so as to be rotatable around the rotation axis J4.

The second wrist portion 15 is connected to the first wrist portion 14 so as to be rotatable around a rotation axis J5 perpendicular to the rotation axis J4, and the third wrist portion 16 is connected to the second wrist portion 15. The rotation axis J5 is connected to be rotatable around a rotation axis J6 perpendicular to the rotation axis J5.

It should be noted that the terms such as “vertical” and “parallel” described above do not necessarily require exact mathematical precision, but allow for substantial tolerances and errors. Further, in this specification, the phrase “vertical” does not only mean that two straight lines (for example, the rotation axis) intersect at right angles on the same plane, but the relationship between the two straight lines is the position of twist. Shall also be included.

The robot 1 further includes actuators (drive sources) M1 to M6 that rotationally drive the turning unit 11, the lower arm 12, the upper arm 13, and the first to third wrist parts 14, 15, and 16 described above. Specifically, each of the actuators M1 to M6 includes, for example, a servo motor and a speed reducer that decelerates and transmits the driving force of the servo motor to a connected link. In the above description, the actuators M1 to M6 as drive sources are provided with servo motors. However, the present invention is not limited thereto, and other motors such as hydraulic motors may be used. In the following, the actuator is expressed as “motor”.

Describing each of the motors M1 to M6, the motor M1 attached to the base 10 is connected to the turning unit 11 and rotationally drives the turning unit 11. A motor M2 attached to the swivel unit 11 is connected to the lower arm 12 to rotate the lower arm 12, and a motor M3 attached to the lower arm 12 is connected to the upper arm 13 to rotate the upper arm 13. To drive. Further, the motor M4 attached to the upper arm 13 is connected to the first wrist portion 14 and rotationally drives the first wrist portion 14.

Both the motor M5 and the motor M6 are attached to the first wrist portion 14. The motor M5 is connected to the second wrist 15 via a pulley or a gear (both not shown) that transmits the driving force of the motor M5 to the second wrist 15, and rotates the second wrist 15. To drive. The motor M6 is connected to the third wrist 16 via a pulley or a gear (both not shown) that transmits the driving force of the motor M6 to the third wrist 16, and rotates the third wrist 16. To drive.

A signal indicating an operation command is input to the motors M1 to M6 from a control device (not shown), and the operation is controlled based on the signal. Further, an end effector (for example, a hand) (not shown) is attached to the third wrist portion 16.

Therefore, the robot 1 performs a predetermined work, for example, a work transfer work, while appropriately changing the position and angle of the end effector, for example, by controlling the operations of the motors M1 to M6 by the control device. To do.

By the way, in the robot 1 configured as described above, the output shaft of the motor on the driving side (more precisely, the output shaft of the speed reducer) and the link on the driven side are connected via a fastening body. Thus, the motor torque is transmitted to the link side.

Specifically, the fastening body has a pair of fastening members that are fastened with their fastening surfaces facing each other, and one of the pair of fastening members is connected to the output shaft of the motor, and the other is a link. Is connected. In such a fastening body, the torque that can be transmitted from one of the pair of fastening members (motor side, drive shaft) to the other (link side, driven shaft) is proportional to, for example, the coefficient of friction between the fastening surfaces of the fastening members. . Therefore, in the fastening body, an increase in the coefficient of friction between the fastening surfaces has been desired in order to improve torque transmission.

Therefore, in the fastening body used in the robot 1 according to the present embodiment, the friction coefficient between the fastening surfaces of the pair of fastening members can be increased, and the transmission of torque from one of the fastening members to the other is improved. It was configured to be able to. This will be described in detail below.

FIG. 2 is an exploded schematic perspective view of the robot 1 shown in FIG. 1, and FIG. 3 is a partially enlarged schematic perspective view showing the portion surrounded by the closed curve A in the robot 1 shown in FIG. 2 and 3 show a state in which the first to third wrist portions 14, 15, and 16 are removed from the upper arm 13. FIG.

As shown in FIGS. 2 and 3, in the robot 1, the fastening body 20 is disposed between the motor M <b> 4 attached to the upper arm 13 and the first wrist portion 14. That is, the motor M4 and the first wrist portion 14 are fastened and connected by the fastening body 20. The fastening body 20 is specifically a flange-shaped shaft coupling, for example.

4 is a schematic cross-sectional view of the fastening body 20 in the YZ plane. Specifically, the upper arm 13 and the first to third wrist portions 14, 15, 16 are connected to each other along the line IV-- in FIG. FIG. 4 is a schematic sectional view taken along line IV.

As shown in FIG. 4, the fastening body 20 includes a pair of fastening members 21 and 22 and an insertion member 23. Hereinafter, one fastening member 21 of the pair of fastening members 21 and 22 is also referred to as a “first fastening member 21”, and the other fastening member 22 is also referred to as a “second fastening member 22”.

The first fastening member 21 includes a main body portion 21a and a flange portion 21b. The main body portion 21a is formed in a cylindrical shape having a hollow portion 21c. Further, the output shaft of the motor M4, more precisely, the output shaft (not shown) of the speed reducer is connected to one end side (the left end side in FIG. 4; the negative direction side in the Y axis) of the main body 21a.

The flange portion 21b is formed continuously from the other end side (the right end side in FIG. 4; the positive direction side in the Y-axis) of the main body portion 21a, and protrudes outward in the radial direction from the main body portion 21a. Formed. In addition, a plurality of bolt holes 21d (for example, six holes) through which the fastening bolts 24 are inserted are formed at appropriate positions of the flange portion 21b.

The second fastening member 22 includes a main body portion 22a and a flange portion 22b. The main body portion 22a is formed in a cylindrical shape having a hollow portion 22c, like the main body portion 21a of the first fastening member 21. Although illustration is omitted, for example, cables for motors M5 and M6 are inserted into the hollow portions 21c and 22c of the first and second fastening members 21 and 22 described above.

The first wrist portion 14 (see FIG. 3) is connected to one end side of the main body portion 22a (the right end side in FIG. 4; the positive direction side in the Y axis).

The flange portion 22b is formed so as to continue from the other end side (the left end side in FIG. 4; the negative direction side in the Y-axis) of the main body portion 22a and to protrude outward in the radial direction from the main body portion 22a. . In the flange portion 22b, a plurality of bolt holes 22d (for example, six holes) through which the bolts 24 are inserted are formed at positions corresponding to the bolt holes 21d of the flange portion 21b.

The outer diameter D22 of the flange portion 22b is substantially the same value as the outer diameter D21 of the flange portion 21b of the first fastening member 21 described above. Further, the inner diameter (hole diameter) d22 of the flange portion 22b of the second fastening member 22 is also set to be substantially the same value as the inner diameter (hole diameter) d21 of the flange portion 21b of the first fastening member 21. In the above description, the outer diameter D21 and the outer diameter D22 are substantially the same, and the inner diameter d21 and the inner diameter d22 are also substantially the same. However, the present invention is not limited to this, and the values are different from each other. It may be set.

In the 1st, 2nd fastening members 21 and 22 comprised as mentioned above, since the flange parts 21b and 22b are arrange | positioned facing and fastened as shown in FIG. 4, the flange part 21b. , 22b function as fastening surfaces. 4, the fastening surface on the flange portion 21b side of the first fastening member 21 is denoted by reference numeral 21e, and the fastening surface on the flange portion 22b side of the second fastening member 22 is denoted by reference numeral 22e.

As described above, the motor M4 as a drive source is connected to the first fastening member 21 that is one of the pair of fastening members 21 and 22, and the first wrist portion 14 is connected to the second fastening member 22 that is the other. Is connected. That is, the first fastening member 21 is on the driving side, and the second fastening member 22 is on the driven side. Therefore, the torque of the motor M4 is the first fastening member 21, the insertion member 23 and the second fastening member described later. It is transmitted to the first wrist portion 14 via the fastening member 22.

The insertion member 23 is inserted between the fastening surface 21 e of the first fastening member 21 and the fastening surface 22 e of the second fastening member 22. FIG. 5A is a schematic cross-sectional view showing the insertion member 23 shown in FIG. 4, and FIG. 5B is a schematic left side view of the insertion member 23 shown in FIG. 5A.

The insertion member 23 includes a base material 23a and a fiber structure 23b. As shown in FIG. 5B, the base material 23a is formed in an annular shape having a hollow portion 23c at the center, and is formed into a film shape having a very thin thickness in the Y-axis direction. In addition, although the thickness in the Y-axis direction of the base material 23a shall be about 30 micrometers, for example, it is not limited to this.

Moreover, the base material 23a is manufactured from, for example, a resin material (for example, polypropylene or silicon). The material of the base material 23a is not limited to the resin material described above, and may be, for example, quartz glass.

As shown in FIG. 4, the outer diameter D23 of the base material 23a is set to be smaller than the outer diameters D21 and D22 of the flange portions 21b and 22b of the first and second fastening members 21 and 22. The inner diameter (hole diameter) d23 of the base material 23a is set to be larger than the inner diameters d21 and d22 of the flange portions 21b and 22b of the first and second fastening members 21 and 22.

Thereby, when the base material 23a is inserted between the fastening surfaces 21e and 22e of the first and second fastening members 21 and 22, the outer peripheral end and the inner peripheral end of the base material 23a are the fastening surfaces 21e and 22e. It can be prevented from protruding from between.

Further, since the inner diameter d23 of the base material 23a is set to be larger than the inner diameters d21 and d22 of the flange portions 21b and 22b, the base material 23a is used for the motors M5 and M6 inserted through the hollow portions 21c and 22c. There is no interference with cables (not shown).

Further, in the base material 23a, a plurality of, for example, six bolt holes 23d through which the bolts 24 (see FIG. 4) are inserted are formed at positions corresponding to the bolt holes 21d and 22d of the flange portions 21b and 22b. Is done. The number of the bolt holes 21d, 22d, and 23d described above is merely an example and is not limited, and may be, for example, 5 or less, or 7 or more.

The fiber structure 23b is formed on one of the surfaces facing the fastening surfaces 21e, 22e of the first and second fastening members 21, 22 in the base material 23a (the left surface in FIG. 5A). Hereinafter, the surface of the substrate 23a on which the fiber structure 23b is formed is referred to as “one surface 23e”, and the surface opposite to the one surface 23e is referred to as “the other surface 23f”.

The base end side of the fiber structure 23b is firmly fixed to the one surface 23e of the base material 23a. The fiber structure 23b is formed in, for example, a very thin columnar shape, and its diameter is, for example, about several nm to several tens of nm. The length of the fiber structure 23b in the Y-axis direction is, for example, about several tens of μm to several thousand μm. Such fiber structures 23b are closely arranged on one surface 23e, and the specific density is, for example, about several billion to several billions per 1 cm ² .

4 and 5A, for convenience of understanding, the base material 23a and the fiber structure 23b are schematically illustrated in an exaggerated manner, and in FIG. 5B, the fiber structure 23b on one surface 23e of the base material 23a. The site where the is formed is shown by shading.

The fiber structure 23b is made of a material having elasticity and relatively high strength, for example. Specifically, the fiber structure 23b is manufactured from, for example, a carbon material such as a carbon nanotube or a resin material such as silicon, and is preferably a carbon nanotube. The carbon nanotube may be a single wall or a multilayer of two or more layers. In addition, the material of the above-described fiber structure 23b is an example, and is not limited.

The insertion member 23 configured as described above is inserted between the fastening surfaces 21e and 22e of the first and second fastening members 21 and 22, and the first and second fastening members 21 and 22 are connected to each other. Fastened with bolts 24 and fixed.

In detail, as shown in FIG. 4, first, the other surface 23 f of the insertion member 23 where the fiber structure 23 b is not formed is bonded to the fastening surface 22 e of the second fastening member 22 via the adhesive 25. The At this time, the bolt holes 23 d of the insertion member 23 are bonded so as to correspond to the bolt holes 22 d of the second fastening member 22. The adhesive 25 only needs to be able to bond the insertion member 23 and the second fastening member 22, and may be, for example, an adhesive tape.

Next, one surface 23 e on which the fiber structure 23 b is formed in the insertion member 23 is disposed to face the fastening surface 21 e of the first fastening member 21. That is, the insertion member 23 is in a state in which the distal end side of the fiber structure 23b faces the fastening surface 21e.

Then, the fastening surface 21e of the first fastening member 21 is brought into contact with the fastening surface 22e of the second fastening member 22, more precisely, one surface 23e of the insertion member 23. At this time, the first fastening member 21 is in contact with the bolt hole 21d in a direction corresponding to the bolt hole 23d of the insertion member 23 and the bolt hole 22d of the second fastening member 22.

Thereafter, the bolt 24 is inserted from the bolt hole 22d of the second fastening member 22 into the bolt hole 23d and the bolt hole 21d in this order, and the nut 26 is attached. Then, by fastening the bolt 24, the first fastening member 21 and the second fastening member 22 are fastened and fixed in a state where the insertion member 23 is inserted.

As described above, the fiber structure 23b of the insertion member 23 is a fine fibrous structure. Therefore, when the fastening surface 21e of the first fastening member 21 and the insertion member 23 are in contact with each other and each of the fiber structures 23b is brought close to the fastening surface 21e, a monoatomic molecule or non- An attractive force due to the interaction between polar molecules, so-called intermolecular attractive force (van der Waals force) is generated.

That is, the fiber structure 23b of the insertion member 23 is bonded to the fastening surface 21e of the first fastening member 21 by intermolecular attractive force, and as a result, for example, the adhesive force in the shearing direction can be improved. Thereby, between the fastening surface 21e of the 1st fastening member 21 and the one surface 23e of the insertion member 23, by extension, between the fastening surface 21e of the 1st fastening member 21, and the fastening surface 22e of the 2nd fastening member 22 The coefficient of friction can be increased.

When the friction coefficient increases, the frictional force between the first fastening member 21 and the second fastening member 22 also increases, so the torque that can be transmitted from the first fastening member 21 to the second fastening member 22 also increases. Torque transmission can be improved.

Further, since the fiber structure 23b is a carbon nanotube, the fiber structure 23b can be reliably adsorbed to the fastening surface 21e of the first fastening member 21 by intermolecular attractive force.

Furthermore, in the bolt 24, the friction coefficient is increased, so that, for example, the number of bolts can be reduced or the bolt diameter can be reduced as compared with the case where the insertion member 23 is not inserted. This can reduce the number of manufacturing steps of the robot 1 and is advantageous in terms of cost.

Further, as shown in FIG. 4, the bolt 24 is a plane (specifically, including the direction T of the torque about the Y axis transmitted in the axial direction B between the first and second fastening members 21 and 22. It is arranged so as to be perpendicular to the (XZ plane). As a result, the axial force of the bolt 24 can be efficiently transmitted to the fastening surfaces 21e, 22e of the first and second fastening members 21, 22, and the frictional force between the first and second fastening members 21, 22 also increases. Thus, the transmission torque can be further increased.

Further, since the insertion member 23 is bonded to the second fastening member 22 on the driven side with the adhesive 25, the maintainability of the robot 1 can be improved. That is, for example, during maintenance work of the robot 1, the drive source such as the motor M <b> 4 or the speed reducer and the first fastening member 21 connected to the drive source may be replaced.

At that time, if the insertion member 23 is bonded to the first fastening member 21 with an adhesive, an operation of re-attaching the insertion member 23 to the first fastening member 21 after replacement occurs. . On the other hand, in the insertion member 23 of the present embodiment, the insertion member 23 is bonded to the second fastening member 22 on the driven side with the adhesive 25, so that the insertion member 23 is bonded when the drive source is replaced. There is no need for reworking, and maintenance can be improved.

Furthermore, in the insertion member 23, since the fiber structure 23b is in contact with the fastening surface 21e, for example, in the case of maintenance work such as disassembling the first fastening member 21 and the second fastening member 22. Even if it exists, the fastening surface 21e is not damaged.

For example, in the first and second fastening members 21 and 22, when the driving side and the driven side are reversed, the mounting direction of the insertion member 23 is changed.

FIG. 6 is an exploded schematic perspective view similar to FIG. 2, showing the robot 1a. FIG. 7 is a partially enlarged schematic perspective view similar to FIG. 3, showing an enlarged portion surrounded by the closed curve C in the robot 1a shown in FIG.

More specifically, as shown in FIGS. 6 and 7, in the robot 1 a, the motor M <b> 4 is connected to the second fastening member 22 to be the driving side, and the upper arm 13 is attached to the first fastening member 21. Are connected to the driven side.

In this case, in the insertion member 23, the other surface 23f (not visible in FIGS. 6 and 7) on which the fiber structure 23b is not formed is not visible in the fastening surface 21e of the first fastening member 21 (not visible in FIGS. 6 and 7). ) With an adhesive. Further, the insertion member 23 is configured such that one surface 23e on which the fiber structure 23b is formed is bonded to the fastening surface 22e (not visible in FIGS. 6 and 7) of the second fastening member 22.

This makes it possible to improve maintainability even in the robot 1a. That is, in the robot 1a, even when the drive source such as the motor M4 and the second fastening member 22 are replaced, the insertion member 23 remains in the first fastening member 21, and therefore the insertion member 23 after replacement. Maintenance work can be improved without the need to re-adhere.

As described above, in the first embodiment, the first and second fastening members 21 and 22 are fastened with the fastening surfaces 21e and 22e facing each other. The insertion member 23 is inserted between the fastening surfaces 21 e and 22 e of the first and second fastening members 21 and 22. The insertion member 23 has a fiber structure 23b that adheres to the fastening surface 21e by intermolecular attractive force to at least one of the surfaces 23e and 23f facing the fastening surfaces 21e and 22e, specifically, one surface 23e. It is formed. Thereby, in the fastening body 20, the friction coefficient between the fastening surfaces 21e and 22e of the 1st, 2nd fastening members 21 and 22 can be increased, and the torque from the 1st fastening member 21 to the 2nd fastening member 22 can be increased. Can be improved.

By the way, the area | region where the fiber structure 23b is formed in the insertion member 23 is not limited to the structure shown to FIG. 5B in 1st Embodiment. For example, the fiber structure 23b may be partially formed on one surface 23e of the insertion member 23 as shown in FIG.

Specifically, the fiber structure 23b is formed between the adjacent bolt holes 23d in the base material 23a. The area of the region where the fiber structure 23b is formed is set to be substantially uniform, for example.

By comprising in this way, when the 1st, 2nd fastening members 21 and 22 are fastened, the fiber structure 23b is between the fastening surfaces 21e and 22e of the 1st and 2nd fastening members 21 and 22. Will be partially arranged. Even in such a case, the friction coefficient between the fastening surfaces 21e and 22e of the first and second fastening members 21 and 22 can be increased, and the first fastening member 21 to the second fastening member 22 can be increased. Torque transmission can be improved.

Further, since the fiber structure 23b is partially disposed between the fastening surfaces 21e and 22e, the area of the relatively expensive fiber structure 23b can be reduced, which is advantageous in terms of cost. In the above description, the area of the region where the fiber structure 23b is formed is substantially uniform, but the areas may be different from each other.

In FIG. 8, the fiber structure 23b is partially formed on the base material 23a. For example, the base material 23a itself on which the fiber structure 23b is formed is made into a small piece, and the second fastening is performed. You may make it adhere | attach partially on the fastening surface 22e of the member 22 with an adhesive agent.

(Second Embodiment)
FIG. 9 is a schematic cross-sectional view in the YZ plane similar to FIG. 4 showing the fastening body 120 according to the second embodiment. 10A is a schematic cross-sectional view showing the insertion member 123 shown in FIG. 9, and FIG. 10B is a schematic left side view of the insertion member 123 shown in FIG. 10A. In the following description, the same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted.

If it demonstrates focusing on difference with 1st Embodiment, in the fastening body 120 which concerns on 2nd Embodiment, the structure of the insertion member 123 and that of the insertion member 23 of 1st Embodiment are the same. Different.

Describing in detail below, as shown in FIGS. 10A and 10B, the insertion member 123 includes a base member 123a and fiber structures 123b1 and 123b2. Since the base material 123a has substantially the same configuration as the base material 23a of the first embodiment including the hollow portion 123c and the bolt holes 123d, the description thereof is omitted.

The fiber structures 123b1 and 123b2 are formed on both the surfaces 123e and 123f facing the fastening surfaces 21e and 22e of the first and second fastening members 21 and 22 in the base material 123a. Specifically, the fiber structure 123b1 is formed on one surface 123e of the substrate 123a, and the fiber structure 123b2 is formed on the other surface 123f of the substrate 123a.

As shown in FIG. 9, the insertion member 123 configured as described above is inserted between the fastening surfaces 21e and 22e of the first and second fastening members 21 and 22, and the first and second fastening members are inserted. The members 21 and 22 and the insertion member 123 are fastened and fixed by bolts 24 and nuts 26. In addition, in the fastening body 120 according to the second embodiment, the adhesive 25 of the first embodiment is removed.

Thereby, the fiber structure 123b1 of the insertion member 123 is adsorbed by the fastening surface 21e of the first fastening member 21 and the intermolecular attractive force. Similarly, the fiber structure 123b2 of the insertion member 123 is adsorbed by the intermolecular attractive force with the fastening surface 22e of the second fastening member 22. Therefore, the friction coefficient between the fastening surface 21e of the first fastening member 21 and the fastening surface 22e of the second fastening member 22 can be increased by inserting the insertion member 123.

When the friction coefficient increases, the frictional force between the first fastening member 21 and the second fastening member 22 also increases, so the torque that can be transmitted from the first fastening member 21 to the second fastening member 22 also increases. Torque transmission can be improved.

Furthermore, since the fiber structures 123b1 and 123b2 are formed on both surfaces of the insertion member 123, for example, even in the case of maintenance work such as disassembling the first fastening member 21 and the second fastening member 22. The fastening surfaces 21e and 22e are not damaged by the insertion member 123.

Further, since the fiber structures 123b1 and 123b2 are formed on both surfaces of the insertion member 123, the maintainability of the robot 1 can be further improved. That is, for example, during maintenance work of the robot 1, the drive source such as the motor M <b> 4 or the speed reducer and the first fastening member 21 connected to the drive source may be replaced. Conversely, the second fastening member 22 connected to the first wrist 14 may be exchanged.

In any of the above-described replacement operations, in the fastening body 120 according to the second embodiment, only the insertion member 123 is inserted between the first and second fastening members 21 and 22 after replacement. Therefore, the maintainability of the robot 1 can be further improved. The remaining configuration and effects are the same as those in the first embodiment, and a description thereof will be omitted.

In the above-described embodiment, the fastening bodies 20 and 120 that fasten the motor M4 and the first wrist portion 14 have been described as examples. However, the parts fastened by the fastening bodies 20 and 120 are limited to this. is not. That is, for example, between the motor M1 and the turning unit 11, between the motor M2 and the lower arm 12, between the motor M3 and the upper arm 13, between the motor M5 and the second wrist 15, and between the motor M6 and the second arm 15. The three wrist parts 16 may be fastened with the fastening bodies 20 and 120 as described above.

In the above description, the case where the fastening bodies 20 and 120 are flange-type shaft couplings has been described as an example. However, the present invention is not limited thereto, and other types of fastening bodies may be used. That is, the fastening body may be, for example, a shaft joint, a cylindrical shaft joint, a spline shaft joint, or the like that is fastened by press-fitting. Any fastening body may be used.

FIG. 11 is a schematic perspective view showing a fastening body 220 fastened by press-fitting. As shown in FIG. 11, the fastening body 220 includes first and second fastening members 221 and 222 that are both formed in a cylindrical shape, and the first fastening member 221 is a hollow portion 222 c of the second fastening member 222. It is press-fitted into and fastened.

Therefore, since the outer peripheral surface 221e of the first fastening member 221 and the inner peripheral surface 222e of the second fastening member 222 function as a fastening surface, the outer peripheral surface 221e of the first fastening member 221 and the second fastening member An insertion member 223 is inserted between the inner peripheral surface 222e of 222. The insertion member 223 is bonded to the inner peripheral surface 222e of the second fastening member 222 with an adhesive (not shown), while the fiber structure 223b is bonded to the inner peripheral surface 222e of the second fastening member 222. It is formed to adsorb by intermolecular attractive force.

Thereby, the friction coefficient between the outer peripheral surface 221e of the first fastening member 221 and the inner peripheral surface 222e of the second fastening member 222 can be increased, and the first fastening member 221 to the second fastening member 222 can be increased. Torque transmission can be improved. In the fastening body 220, the insertion member 223 is bonded to the inner peripheral surface 222e of the second fastening member 222 with an adhesive, and the fiber structure 223b is molecularly attached to the outer peripheral surface 221e of the first fastening member 221. You may make it adsorb | suck by thinning force.

In the insertion member 123 of the second embodiment, the region where the fiber structures 123b1 and 123b2 are formed is not limited to the configuration shown in FIG. 10B. That is, for example, as shown in FIG. 8 in the first embodiment, when the first and second fastening members 21 and 22 are fastened, the fiber structures 123b1 and 123b2 are the first and second fastening members. You may comprise so that it may arrange | position partially between the fastening surfaces 21e and 22e of 21,22.

Moreover, although the insertion member 123 of 2nd Embodiment was made to form the fiber structure 123b1, 123b2 in both surfaces 123e and 123f of the base material 123a, the structure is what shows in 2nd Embodiment. It is not limited. That is, the insertion member 123 uses two insertion members 23 in which the fiber structures 23b are formed on the one surface 23e of the base material 23a as in the first embodiment, for example, and the mutual fiber structures 23b. The base material 23a may be back-to-back and bonded so that is directed outward.

Although the robot 1 has been described as a 6-axis robot, the present invention is not limited to this configuration, and a robot other than the 6-axis configuration, for example, a 7-axis or 8-axis robot can be used. Other types of robots such as a double-arm robot may be used.

Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

DESCRIPTION OF SYMBOLS 1,1a Robot 10 Base 11 Turning part 12 Lower arm 13 Upper arm 14 1st wrist part 15 2nd wrist part 16 3rd wrist part 20,120,220 Fastening body 21,221 1st fastening member 22, 222 2nd fastening member 23,123,223 Insertion member 24 Bolt 21e, 221e Fastening surface 22e, 222e (2nd fastening member) Fastening surface 23a, 123a Base material 23b, 123b1 , 123b2, 223b Fiber structure 23e, 123e One surface 23f, 123f The other surface (base material) 25 Adhesive M1-M6 Motor (drive source)

Claims (7)

A pair of fastening members that are fastened with their fastening surfaces facing each other;
An insertion member that is interposed between the fastening surfaces of the pair of fastening members and in which a fiber structure that is bonded to the fastening surface by intermolecular attractive force is formed on at least one of the surfaces facing the fastening surface; A fastening body comprising: The insertion member includes a base material,
A drive source is connected to one of the pair of fastening members,
One surface of the base material is formed with the fiber structure, and is bonded to the fastening surface of the one fastening member via the fiber structure,
The fastening body according to claim 1, wherein the other surface of the base material is bonded to a fastening surface of the other fastening member of the pair of fastening members via an adhesive. The insertion member includes a base material,
The fastening structure according to claim 1, wherein the fiber structure is formed on both surfaces of the base material facing a fastening surface of the pair of fastening members. The fastening body according to claim 1, wherein the fiber structure is a carbon nanotube. The fastening body according to claim 1, wherein the fiber structure is partially disposed between fastening surfaces of the pair of fastening members. The pair of fastening members and the insertion member are fastened by bolts,
6. The bolt according to claim 1, wherein the bolt is disposed so that an axial direction thereof is perpendicular to a plane including a direction of torque transmitted between the pair of fastening members. The fastening body described in 1. A robot comprising the fastening body according to claim 1.

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