housing and joint mechanism

Abstract

The present invention provides a housing and a joint mechanism. The housing (101) comprises: a housing body (110) housing at least one motor or mechanical component (130, 140, 150), and a front panel (115) and a pair of side panels (112, 113) joined to a base plate (111) with an opening (K); a cover (120) for closing the opening (K); and a sealing gasket (160) located between an edge (Ka) of the housing body (110) and an edge (Kb) of the cover (120) for sealing the interior of the housing body (110). The edges (Ka) of each side panel (112, 113) have a curved shape.

Description

Technical Field

[0001] This invention relates to a housing and a joint mechanism. Background Technology

[0002] Joint robots are widely known as industrial machinery used for various assembly and collaborative tasks. A joint robot device has multiple links and multiple joint mechanisms connecting these links. Each joint mechanism consists of joint structural members that rotatably support the links, motors that rotate the links, and a housing that houses and controls the motors, including a control base plate. The housing of the joint mechanism consists of a main body with an opening and a cover that closes the opening. Removing the cover opens the main body, allowing for the replacement or maintenance of the internal motors and control base plate. A gasket seals the main body and the cover to protect the motors and control base plate from dust and moisture.

[0003] In the joint mechanism of the aforementioned multi-joint robot device, the cover mounting part is formed by a single plane, and the main body of the housing is formed as a deep box shape. For component replacement and maintenance, the cover needs to be removed, and tools or the operator's hand needs to be inserted into the inside of the main body of the housing. However, because the cover mounting part is a single plane, the main body of the housing is deep and its opening is narrow, thus its operability is poor. Summary of the Invention

[0004] The problem the invention aims to solve

[0005] In the housing and joint mechanisms, it is desirable to improve the operability of maintenance by increasing the openings.

[0006] means for solving problems

[0007] One aspect of the housing disclosed herein includes: a housing body housing at least one motor or mechanical component, and formed by joining a front panel and a pair of side panels to a base plate with an opening; a cover for closing the opening; and a sealing gasket, located between the edges of the base plate, the front panel, and the pair of side panels of the housing body and the edge of the cover, for sealing the interior of the housing body. The edges of each side panel of the housing body are curved and recessed towards the base plate.

[0008] According to one configuration, the opening can be enlarged and the operability of maintenance can be improved. Attached Figure Description

[0009] Figure 1 This is a perspective view showing the joint mechanism of the first embodiment.

[0010] Figure 2 yes Figure 1 Exploded view of the casing.

[0011] Figure 3yes Figure 2 Side view of the casing.

[0012] Figure 4A yes Figure 1 A partial sectional view of the sealing structure of the casing.

[0013] Figure 4B It is along Figure 4A A cross-sectional view when viewed in the direction of the arrow.

[0014] Figure 5 This is a perspective view showing a modified example of the joint mechanism of the first embodiment.

[0015] Figure 6 yes Figure 5 Exploded view of the casing.

[0016] Figure 7 yes Figure 6 Side view of the casing.

[0017] Figure 8A yes Figure 5 A partial sectional view of the sealing structure of the casing.

[0018] Figure 8B It is along Figure 8A A cross-sectional view when viewed in the direction of the arrow.

[0019] Figure 9 This is a perspective view showing the joint mechanism of the second embodiment.

[0020] Figure 10 yes Figure 9 Exploded view of the casing.

[0021] Figure 11 yes Figure 10 Side view of the casing.

[0022] Figure 12A This is a perspective view of the joint mechanism in the third embodiment.

[0023] Figure 12B It is along Figure 12A The diagram when viewed in the direction of the arrow.

[0024] Figure 13 yes Figure 12A Exploded view of the casing.

[0025] Figure 14A yes Figure 13 The right side view of the casing.

[0026] Figure 14B yes Figure 13 Left side view of the casing. Detailed Implementation

[0027] Hereinafter, a joint mechanism and its housing according to one embodiment will be described with reference to the accompanying drawings. In the following description, structural elements having substantially the same function and structure will be given the same reference numerals and will be described repeatedly only where necessary.

[0028] The housing of this embodiment houses at least one motor or mechanical component and can be applied to a wide variety of uses. Here, an example of applying this housing to a joint mechanism that connects the links of a multi-joint robot will be described.

[0029] (First Implementation)

[0030] like Figures 1 to 3 As shown, the joint mechanism 100 of the first embodiment includes: joint structure members 130 and 140, such as bearings, which are mechanical components; a motor 150, which is a motor component; and a housing 101. The housing 101 is composed of a metal housing body 110 and a metal or resin cover 120. A portion of the housing body 110 is open, and the cover 120 is placed on the housing body 110 to close the opening.

[0031] Typically, the main body 110 has a rectangular base plate (also called a "base") 111. A front panel 115 and a pair of side panels 112, 113 are attached to the base plate 111. The pair of side panels 112, 113 form an approximately trapezoidal shape, with one interior angle being a right angle or a near-right angle. Here, the edges Ka of the side panels 112, 113, which correspond to the oblique lines of the trapezoid, are not straight lines, but are formed as a curved shape that is significantly concave towards the base plate 111, preferably an arc shape. Thus, when the cover 120 is removed, the motor 150, which is a motor component, and the joint structure members 130, 140, which are mechanical components, are significantly exposed from the opening K of the main body 110, making these components easily accessible.

[0032] A narrow, elongated top plate 114 is attached to a pair of side panels 112, 113 and a front panel 115. Thus, the main body 110 is formed as a cuboid (box shape) with one open side and consisting of five faces. By attaching the front panel 115 and the pair of side panels 112, 113 to three sides of the base plate 111, and then attaching these panels to the top plate 114, the rigidity of the box-like structure 110 can be ensured compared to the case without the top plate 114. Furthermore, the opening K can be enlarged compared to the case where the pair of side panels are rectangular or whose edges Ka are straight.

[0033] On the front panel 115, there are joint components such as bearings that serve as mechanical parts that support the connecting rods in a freely rotatable manner. On the base plate 111, there are joint components such as bearings that support other connecting rods in a freely rotatable manner, as well as a motor 150 that serves as a motor component.

[0034] The cover 120 has a shape that matches the opening K and edge Ka of the housing body 110. The rear end plate 121, a pair of side panels 122, 123, and the top plate 124 are combined with a rectangular flat inclined plate 125. The edge Kb of the pair of side panels 122, 123 has a curved convex shape that matches the edge Ka of the pair of side panels 112, 113 of the housing body 110.

[0035] To ensure the internal sealing of the housing 101, an annular sealing gasket 160 is sandwiched between the edges Ka of the bottom plate 111, top plate 114, and a pair of side panels 112, 113 of the housing body 110 and the edges Kb of the rear end plate 121, a pair of side panels 122, 123, and top plate 124 of the cover 120. Typically, the sealing gasket 160 is cut from a flat thin plate and formed into a flat annular shape with a certain thickness.

[0036] Figure 4A A partial sectional view of the housing 101 is shown. Figure 4B Show along Figure 4A The image shows a cross-sectional view viewed in the direction of the arrow. To create a gap of a specified width when the edge Ka of the housing body 110 contacts the edge Kb of the cover 120, steps are provided on both the edge Ka of the housing body 110 and the edge Kb of the cover 120, extending outwards along the thickness direction. Through these steps, grooves 112a and 112b are formed in a ring shape on the edge Ka of the housing body 110 and the edge Kb of the cover 120, respectively, along the edge direction outside the screw 127. Alternatively, the groove may be provided only on one of the edges of the housing body 110 (Ka) and the cover 120 (Kb), while the other may be flat.

[0037] Embedded within these grooves 112a and 112b are sealing gaskets 160, which are annular elastic members (rubber members). When the sealing gasket 160 is in a stable state without external pressure or load, its thickness is slightly greater than the sum of the depths of grooves 112a and 112b. When the cover 120 is in close contact with the housing body 110, the sealing gasket 160 is flattened in the thickness direction, pressed into the grooves 112a and 112b, and its restoring force ensures a tight seal.

[0038] For example, at six locations—the joint between the rear end plate 121 and the pair of side panels 122, 123 of the cover 120, the joint between the top plate 124 and the pair of side panels 122, 123, the central portion of the rear end plate 121, and the central portion of the top plate 124—a groove 128 is formed along its surface direction to allow the screw 127 and a screwdriver (not shown) to pass through. A flange 122c with a threaded through hole 112c is provided at the bottom of the groove 128. A threaded hole 112d with a threaded groove is formed on the edge Ka of the housing body 110, which faces the threaded through hole 112c. By screwing the screw 127 into the threaded hole 112d, the edges Ka and Kb are brought into close contact, and the sealing gasket 160 is compressed. Therefore, the housing body 110 and the cover 120 are sealed together on their outer sides via the sealing gasket 160, and on the inner side of the screw 127, the edges Ka and Kb are in direct and close contact with each other.

[0039] Furthermore, by forming both the housing body 110 and the cover 120 with metal, metal contact is achieved on the inner side, and a seal is ensured on the outer side by a sealing gasket 160. In this structure, the side of the sealing gasket 160 is exposed to the outside, which minimizes the intentional avoidance of metal-to-metal contact between parts in the food production line and prevents the growth of bacteria in the gap. More preferably, a rubber bushing is inserted into the screw 127. This also prevents metal-to-metal contact between the screw 127 and the flange 122c. Therefore, a multi-joint robot can be used in a food production line.

[0040] As explained above, by making the edges Ka of the pair of side panels 112, 113 concave in a curved shape, the opening K of the housing body 110 can be enlarged. When the cover 120 is removed, the components of the motor or machinery housed in or mounted on the housing body 110 can be significantly exposed. This makes it easier for tools and workers' hands to access the components during replacement and maintenance, improving work efficiency.

[0041] Furthermore, because the edge Ka of the main body 110 and the edge Kb of the cover 120 are curved in a matching manner, it is easy to align the main body 110 and the cover 120, making it difficult for positional deviations or gaps to occur. This also improves the efficiency of operations such as tightening screws.

[0042] Furthermore, the material of the cover 120 is relatively flexible when the multi-joint robot is not intended for use in a food production line. For example, the main body 110 can be made of metal to maintain strength, while the cover 120 can be made of resin, thereby making the joint mechanism 100 lighter. In addition, by making the joint mechanism 100 lighter, the strength of each part of the multi-joint robot and the output of the motors can be reduced, which can help with miniaturization and energy saving.

[0043] In addition, by combining the front panel 115 and a pair of side panels 112 and 113 on the three sides of the base plate 111, and combining these front panels 115 and a pair of side panels 112 and 113 with the top plate 114, the rigidity of the housing body 110 as the main body of the casing can be ensured.

[0044] In the above description, the structure is described with screw 127 positioned on the inside and sealing gasket 160 positioned on the outside. However, as... Figures 5 to 8B As shown, a configuration can also be achieved where the screws 127 are positioned on the outer side and the sealing gasket 160 on the inner side. In this configuration, the edge Ka of the housing body 110 and the edge Kb of the cover 120 are in metal-to-metal contact with the outside, but are sealed at the innermost part by the sealing gasket 160. This configuration is preferred depending on the application of the multi-joint robot.

[0045] (Second Implementation)

[0046] exist Figures 9 to 11 The joint mechanism of the second embodiment is shown in the diagram. In the first embodiment described above, the edges Ka of the side panels 112 and 113 of the housing body 110 are concave towards the bottom plate 111 in an arc shape. However, in this embodiment, since the joint structure member 230 is installed on the side panel 212 of the housing body 210, the structure in which the edges Ka of the side panel 212 are concave towards the bottom plate 211 in an arc shape cannot be used. However, the following structure is provided to enlarge the opening K of the housing body 210 when the cover 220 of the housing body 210 is removed. This will be described in detail below.

[0047] The housing 201 of the joint mechanism 200 is composed of a housing body 210 and a cover 220, and the housing body 210 has a rectangular base plate 211. A front panel 215 and a pair of side panels 212 and 213 are attached to three sides of the base plate 211. On the base plate 211, joint structure members 270, such as bearings, which are mechanical components, and a motor 250, which is an electric motor component, are mounted. A joint structure member 240 is mounted on the front panel 215, and a joint structure member 230 is also mounted on the side panel 212.

[0048] The edge Ka of the side panel 212 is not a straight line, but has a shape that is curved in a non-acute angle curve so as to surround the contour of the joint structure member 230 mounted on the side panel 212.

[0049] The cover 220 has a shape that matches the opening K and edge Ka of the housing body 210. The rear end plate 221, a pair of side panels 222, 223, and the top plate 224 are combined with a rectangular flat inclined plate 225. The edge Kb of the pair of side panels 222, 223 has a concave shape with a curve that matches the edge Ka of the pair of side panels 212, 213 of the housing body 210.

[0050] To ensure the airtightness of the interior of the housing 201, an annular sealing gasket 260 is sandwiched between the edges Ka of the bottom plate 211, top plate 214, and a pair of side panels 212 and 213 of the housing body 210 and the edges Kb of the rear end plate 221, a pair of side panels 222 and 223, and top plate 224 of the cover 220.

[0051] The sealing structure and connection structure of the sealing gasket 260 are the same as in the first embodiment. To create a gap of a specified width when the edge Ka of the housing body 210 contacts the edge Kb of the cover 220, annular grooves are formed on the edge Ka of the housing body 210 and the edge Kb of the cover 220, respectively, along the edge direction on the outer or inner side of the screw 227. An annular elastic member (made of rubber) of the sealing gasket 260 is embedded between these grooves. When the sealing gasket 260 is in a stable, unloaded state, its thickness is slightly greater than the sum of the depths of these grooves. When the cover 220 is in close contact with the housing body 210, the sealing gasket 260 is flattened in the thickness direction, pressed between these grooves, and its restoring force ensures a tight seal.

[0052] On both sides and at the center of the rear end plate 221 and top plate 224 of the cover 220, grooves 228 are formed along their surface direction to allow screws 227 and screwdrivers (not shown) to pass through. Screws 227 are inserted through threaded holes in the flange at the bottom of the grooves 228 and screwed into threaded holes in the edge Ka of the housing body 210, which faces the threaded holes. Thus, edges Ka and Kb are in close contact, and the sealing gasket 260 is compressed. The housing body 210 and cover 220 are sealed together via the sealing gasket 260, with edges Ka and Kb in direct, close contact with each other on either the inner or outer side of the screw 227.

[0053] In this embodiment, similar to the first embodiment, the opening K of the housing body 210 can be enlarged, exposing a large portion of the motor or mechanical components, thereby improving the efficiency of component replacement and maintenance. Furthermore, it facilitates alignment between the housing body 210 and the cover 220, minimizing positional deviations and gaps. This also improves the efficiency of tasks such as tightening screws. In addition, it achieves the same effects as the first embodiment.

[0054] (Third Implementation)

[0055] exist Figures 12A to 14B The joint mechanism of the third embodiment is shown in the diagram. In the first embodiment described above, the edges Ka of the side panels 112 and 113 of the housing body 110 are concave towards the bottom plate 111 in an arc shape. However, in this embodiment, since the joint structure member 330 is installed on the side panel 312 of the housing body 310, the edges Ka of the side panel 312 cannot be concave towards the bottom plate 311 in an arc shape. However, the following structure is provided to enlarge the opening K of the housing body 310 when the cover 320 of the housing body 310 is removed. This will be described in detail below.

[0056] The housing 301 of the joint mechanism 300 is composed of a housing body 310 and a cover 320. The housing body 310 has a rectangular base plate 311. A front panel 315 and a pair of side panels 312 and 313 are attached to three sides of the base plate 311. A short, elongated top plate 314 is attached to the upper side of the pair of side panels 312 and 313. A joint structure member 370, such as a bearing, which is a mechanical component, and a motor 350, which is a motor component, are mounted on the base plate 311. A joint structure member 340 is mounted on the front panel 315, and a joint structure member 330 is also mounted on the side panel 312. No joint structure members, motors, or other electrical or mechanical components are mounted on the other side panel 313. Similar to the side panel 113 of the first embodiment, the edge Ka' of this side panel 313 is formed to be significantly concave towards the base plate 311 in an arc shape.

[0057] The edge Ka of the side panel 312 is not a straight line, but has the following shape: a convex curved portion Ka1 is continuously connected to concave curved portions Ka2 and Ka3 on both sides of it, wherein the convex curved portion Ka1 protrudes in such a way that it surrounds the contour of the joint structure member 330 mounted on the side panel 312.

[0058] The cover 320 has a shape that matches the opening K and the entire edge of the housing body 310. The rear end plate 321, a pair of side panels 322, 323, and the top plate 324 are combined with a rectangular flat inclined plate 325. The edges Kb and Kb' of the pair of side panels 322 and 323 have curved shapes that match the edges Ka and Ka' of the pair of side panels 312 and 313 of the housing body 310.

[0059] To ensure the airtightness of the interior of the housing 301, an annular sealing gasket 360 is sandwiched between the entire edge of the bottom plate 311, top plate 314, and a pair of side panels 312 and 313 of the housing body 310 and the entire edge of the rear end plate 321, a pair of side panels 322 and 323, and top plate 324 of the cover 320.

[0060] The sealing structure and connection structure of the sealing gasket 360 are the same as in the first embodiment. To create a gap of a specified width when the edge of the housing body 310 contacts the edge of the cover 320, grooves are formed in annular shape along the edge direction on the outer or inner side of the screw 327 on the edge Ka of the housing body 310 and the edge Kb of the cover 320, respectively, and annular elastic members (made of rubber) of the sealing gasket 360 are embedded between these grooves. When the sealing gasket 360 is in a stable, unloaded state, its thickness is slightly greater than the sum of the depths of these grooves. When the cover 320 is in close contact with the housing body 310, the sealing gasket 360 is flattened in the thickness direction, pressed between these grooves, and its restoring force ensures a tight seal.

[0061] On both sides and at the center of the rear end plate 321 and top plate 324 of the cover 320, grooves 328 are formed along their surface direction to allow screws 327 and screwdrivers (not shown) to pass through. Screws 327 are inserted through threaded holes in the flange at the bottom of the grooves 328 and screwed into threaded holes in the edge Ka of the housing body 310, which faces the threaded holes. Thus, edges Ka and Kb are in close contact, and the sealing gasket 360 is compressed. The housing body 310 and cover 320 are sealed together via the sealing gasket 360, and edges Ka and Kb are in direct, close contact with each other on either the inside or outside of the screw 327. Alternatively, the sealing gasket 360 can be made to have the same length as Ka and Ka', allowing the sealing gasket 360 to unfold into a flat surface.

[0062] In this embodiment, similar to the first embodiment, the opening K of the housing body 310 can be enlarged, allowing the motor or mechanical components to be exposed significantly, thereby improving the efficiency of component replacement and maintenance. Furthermore, it facilitates the alignment of the housing body 310 and the cover 320, minimizing positional deviations and gaps. Additionally, it improves the efficiency of tasks such as tightening screws. Moreover, it achieves the same effects as the first embodiment, such as ensuring the rigidity of the housing body 310.

[0063] While some embodiments have been described, these embodiments are presented by way of example only and are not intended to limit the scope of the invention. In fact, the novel methods and systems described herein can be embodied in various other forms; furthermore, various omissions, substitutions, and changes can be made to the implementation of the methods and systems described herein without departing from the spirit of the invention. The appended claims and their equivalents are intended to cover forms or modifications falling within the scope and spirit of the invention.

Claims

1. A housing, characterized in that, have: The main body of the casing houses at least one motor or mechanical component, and is joined to a base plate with a front panel and a pair of side panels in an open manner. A cover for closing the opening, and A sealing gasket, located between the edge of the main body of the housing and the edge of the cover, is used to seal the interior of the main body of the housing; The edges of each of the side panels have a curved shape. The component is mounted on at least one of the side panels. The edge of at least one of the side panels has a curved shape that follows the contour of the component.

2. The housing according to claim 1, characterized in that, Each of the side panels has a concave curved portion at its edge that is recessed toward the bottom plate.

3. The housing according to claim 1, characterized in that, The component is mounted on at least one of the side panels. At least one of the side panels has an edge with a curved convex portion and a concave portion recessed towards the base plate side, which are continuous along the contour of the component.

4. The housing according to claim 1, characterized in that, The component is mounted on one of the side panels. One of the side panels has an edge with a curved convex portion and a concave portion recessed towards the base plate, which are continuous along the contour of the component. The edge of the other side panel has a concave curved portion that is recessed toward the bottom plate.

5. The housing according to any one of claims 1 to 4, characterized in that, The main body of the casing is made of metal. The cover is made of resin material.

6. The housing according to any one of claims 1 to 4, characterized in that, A step is provided in the thickness direction on at least one of the edge of the housing body and the edge of the cover to form a gap of a predetermined width when the edge of the housing body and the edge of the cover are in contact. The sealing gasket is pressed into the gap. The thickness of the sealing gasket when it is stable is greater than the width of the gap.

7. The housing according to claim 6, characterized in that, The gap is formed on the outside of the main body of the housing. The main body of the casing and the cover are joined together by screws on the inside of the gap.

8. The housing according to claim 6, characterized in that, The gap is formed on the inner side of the main body of the housing. The main body of the casing and the cover are joined together by screws on the outside of the gap.

9. The housing according to any one of claims 1 to 4, characterized in that, The sealing gasket is formed by cutting a flat thin plate.

10. A joint mechanism for connecting a link, characterized in that, have: The main body of the casing has a front panel and a pair of side panels attached to the bottom plate with an opening. A cover for closing the opening. At least one motor or mechanical component is housed inside the main body of the housing or mounted on the side panel, and A sealing gasket, located between the edge of the housing body and the edge of the cover, is used to seal the interior of the housing body. The edges of each of the side panels have a curved shape. The component is mounted on at least one of the side panels. The edge of at least one of the side panels has a curved shape that follows the contour of the component.

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