Vertical articulated robot

Abstract

The invention provides a vertical multi-joint robot which can cool a motor by a simple structure without increasing the interference radius of a frame even if the motor is covered by a cover. A vertical articulated robot (100) is provided with: a first motor (114) that rotates a main body section (104) with respect to a base (102); a second motor (116) that rotates a lower arm (106) with respect to the main body section; a first motor chamber (118) and a second motor chamber (120) that are formed inside the main body section and that respectively house the first motor and the second motor; and a communication port (136) that is formed inside the main body section and that connects the first motor chamber and the second motor chamber. A first motor cover (124) and a second motor cover (128) respectively covering an opening (122) of the first motor chamber and an opening (126) of the second motor chamber; an air inlet (130) formed in a lower surface (138) of the second motor cover; an air outlet (132) formed in the first motor cover; and an air supply fan (134) arranged near the air inlet and inside the main body part.

Description

Technical Field

[0001] The invention relates to a vertical multi-joint robot with an arm. Background Art

[0002] A vertical multi-joint robot is an industrial robot used for general purposes. The vertical multi-joint robot has a base installed on a floor or the like and a main body mounted on the base. The main body contains a motor (first motor) that rotates the main body relative to the base, a motor (second motor) that rotates the arm relative to the main body, and the like.

[0003] Vertical multi-joint robots are mostly 5-axis or 6-axis structures. Therefore, the motor near the base has a larger mass than the motor near the front end (end effector), so a motor with a larger output must be configured. As a result, the output of the first motor and the second motor housed in the main body increases, and the heat also increases, so it is necessary to suppress the temperature rise of the motor.

[0004] Patent document 1 describes a cooling device for a joint of a robot. The cooling device includes: a cooling medium flow path body, which forms a cooling medium flow path; a cooling medium circulation flow path connected to the cooling medium flow path body; a radiator and a delivery device (pump); and a fan. The cooling medium flow path body is provided on a motor (liquid cooling) that becomes a heat generating part of the joint of the robot. The radiator and the delivery device are provided in the middle of the cooling medium circulation flow path. The fan is provided on the radiator and is configured to cool the radiator.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2022-056064 Summary of the invention

[0008] Problem that the invention aims to solve

[0009] The cooling device of Patent Document 1 needs to provide a coolant flow path body in the motor of the joint portion of the robot, which has a problem of complicating the structure.

[0010] As another structure, a cooling fan can be installed to cool the motor (air cooling). However, in the case of a fully covered model (a structure in which the mechanism is covered by a cover), the motor is also covered by a cover. If a cooling fan is installed outside the cover, or the cover is enlarged to cover the cooling fan, there is a problem that the frame interference radius becomes larger when the robot moves.

[0011] The present invention has been made in view of the above problems, and an object of the present invention is to provide a vertical articulated robot that can cool the motor with a simple structure without increasing the frame interference radius even if the motor is covered with a cover.

[0012] Solutions for solving problems

[0013] In order to solve the above-mentioned problems, a representative structure of the vertical multi-joint robot of the present invention is a vertical multi-joint robot with an arm, characterized in that the vertical multi-joint robot includes: a base; a main body, which is placed on the base; a first motor, which rotates the main body relative to the base; a second motor, which rotates the arm relative to the main body; a first motor chamber, which is formed inside the main body and accommodates the first motor; a second motor chamber, which is formed inside the main body and accommodates the second motor; a communication port, which is formed inside the main body and connects the first motor chamber with the second motor chamber; a first motor cover, which covers the opening of the first motor chamber; a second motor cover, which covers the opening of the second motor chamber; an air intake port, which is formed on the lower surface of one of the first motor cover and the second motor cover; an exhaust port, which is formed on the second motor cover when the air intake port is formed on the first motor cover, and is formed on the first motor cover when the air intake port is formed on the second motor cover; and an air supply fan, which is arranged near the air intake port or the exhaust port and is inside the main body.

[0014] Effects of the Invention

[0015] According to the present invention, it is possible to provide a vertical articulated robot that can cool the motor with a simple structure without increasing the frame interference radius even if the motor is covered with a cover. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a perspective view showing the overall structure of a vertical multi-articular robot according to an embodiment of the present invention.

[0017] Figure 2 It is a magnified representation Figure 1 (b) Diagram of a part of a vertical multi-joint robot.

[0018] Figure 3 Yes means Figure 1 Diagram of the main parts of a vertical multi-jointed robot.

[0019] Figure 4 Yes means Figure 1 A diagram of the interior of the main body of a vertical multi-joint robot.

[0020] Figure 5 yes Figure 1 Top view of a vertical articulated robot.

[0021] Description of Reference Numerals

[0022] 100. Vertical multi-joint robot; 102. Base; 104. Main body; 106. Lower arm; 108. Mounting surface; 110. First axis; 112. Second axis; 114. First motor; 116. Second motor; 118. First motor chamber; 120. Second motor chamber; 122. Opening of the first motor chamber; 124. First motor cover; 126. Opening of the second motor chamber; 128. Second motor cover; 130. Air inlet; 132. Exhaust outlet; 134, 134A, air supply fan; 136, connecting port; 138. Lower surface of the second motor cover; 140. Side surface of the first motor cover; 142. Bracket; 144a, 144b, screws; 146. Partition wall. DETAILED DESCRIPTION

[0023] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values ​​shown in the embodiments are merely examples for easy understanding of the invention, and do not limit the present invention except for the cases specifically described. In addition, in this specification and the accompanying drawings, for elements having substantially the same function and structure, repeated descriptions are omitted by marking the same reference numerals, and elements that are not directly related to the present invention are omitted from the drawings.

[0024] Figure 1 It is a perspective view showing the overall structure of the vertical multi-joint robot 100 according to the embodiment of the present invention. Figure 1 (a) shows a state where the vertical articulated robot 100 is viewed from obliquely above. Figure 1 (b) indicates viewing from below Figure 1 (a) is the state of the vertical articulated robot 100.

[0025] The vertical multi-joint robot 100 is an industrial robot used for general purposes such as substrate conveyance. The vertical multi-joint robot 100 includes a base 102, a main body 104 mounted on the base 102, and a lower arm 106. The base 102 is installed on a floor of a factory or the like. Figure 1 The mounting surface 108 shown in (a).

[0026] In the vertical articulated robot 100, a first shaft 110 (see Figure 1 (b)) is a vertical axis relative to the mounting surface 108. The main body 104 rotates in a direction parallel to the mounting surface 108 by means of the first axis 110. In addition, the second axis 112 (see Figure 1 (a)) is supported by the main body 104 in a direction perpendicular to the first shaft 110. The lower arm 106 is rotated by the second shaft 112 supported by the main body 104.

[0027] In addition, Figure 1 , a portion from the base 102 to the lower arm 106 of a 5-axis robot or a 6-axis robot is shown. However, in practice, a portion from the upper arm to the end effector, which is omitted from the illustration, can be appropriately arranged to form a 5-axis robot or a 6-axis robot.

[0028] Figure 2 It is a magnified representation Figure 1 (b) is a diagram of a portion of the vertical articulated robot 100. Figure 3 Yes means Figure 1 1 is a diagram of the main part of the vertical multi-joint robot 100 , showing a state where the first motor cover 124 and the second motor cover 128 are removed.

[0029] like Figure 3 As shown, the vertical articulated robot 100 includes a first motor 114 and a second motor 116. The first motor 114 is a motor for rotating the main body 104 relative to the base 102, and is housed in a first motor chamber 118 formed inside the main body 104. The second motor 116 is a motor for rotating the lower arm 106 relative to the main body 104, and is housed in a second motor chamber 120 formed inside the main body 104.

[0030] In addition, the opening 122 of the first motor chamber 118 is used Figure 1 and Figure 2 The first motor cover 124 is shown to cover the second motor chamber 120. The opening 126 of the second motor chamber 120 is used Figure 1 and Figure 2 The second motor cover 128 shown is covered. Figure 3 In FIG. 1 , only the outer shapes of the first motor cover 124 and the second motor cover 128 are shown by dotted lines.

[0031] Here, in the vertical multi-joint robot 100, a large load is applied to the first motor 114 and the second motor 116 during operations such as substrate conveyance, and these motors 114 and 116 generate heat. Therefore, in the vertical multi-joint robot 100 of this embodiment, a structure is adopted to suppress the temperature rise of the first motor 114 and the second motor 116.

[0032] That is, the vertical articulated robot 100 includes an air inlet 130, an air outlet 132, Figure 3 The air supply fan 134 and the communication port 136 (see Figure 4 ).like Figure 2 and Figure 1 As shown in FIG. 2( b ), the air inlet 130 is formed on the lower surface 138 of the second motor cover 128 . The air outlet 132 is formed on the side surface 140 of the first motor cover 124 .

[0033] like Figure 3As shown, the air supply fan 134 is arranged near the air inlet 130 and inside the main body 104 (inside the second motor cover 128). The bracket 142 is mounted on the air supply fan 134. The air supply fan 134 is fixed to the inner side of the second motor cover 128 by means of the bracket 142 and screws 144a, 144b, etc. In this way, the air supply fan 134 is arranged inside the main body 104 at a position opposite to the air inlet 130.

[0034] Figure 4 Yes means Figure 1 FIG. 1 is a diagram of the interior of the main body 104 of the vertical multi-joint robot 100 . Figure 4 (a) mainly shows the second motor chamber 120 in a state where the second motor 116, the second motor cover 128, the air supply fan 134, etc. are omitted. Figure 4 (b) mainly shows the first motor chamber 118 in a state where the first motor 114 and the first motor cover 124 are omitted.

[0035] The communication port 136 is formed in a partition wall 146 that partitions the first motor chamber 118 and the second motor chamber 120 , and allows the first motor chamber 118 and the second motor chamber 120 to communicate with each other.

[0036] Thus, in the vertical articulated robot 100 , a first motor chamber 118 accommodating the first motor 114 , a second motor chamber 120 accommodating the second motor 116 , and a communication port 136 connecting the first motor chamber 118 and the second motor chamber 120 are formed inside the main body 104 .

[0037] Hereinafter, the case where the air supply fan 134 is driven during the operation of substrate conveyance or the like in the vertical multi-joint robot 100 will be described. Figure 2 and Figure 3 As shown by arrow A, external air is sucked into the main body 104 from the air inlet 130, and then sent to the second motor room 120 from the air supply fan 134 facing the air inlet 130. Thus, the second motor 116 accommodated in the second motor room 120 is cooled by the external air.

[0038] Furthermore, the first motor chamber 118 and the second motor chamber 120 are connected by the communication port 136. Figure 4 The arrow B of (a) and Figure 4 As shown by arrow C in (b), the outside air reaches the first motor chamber 118 from the second motor chamber 120 through the communication port 136. Thus, the first motor 114 accommodated in the first motor chamber 118 is cooled by the outside air. Figure 2 and Figure 3 As shown by arrow D, external air is exhausted from the exhaust port 132.

[0039] Therefore, according to the vertical articulated robot 100, an air supply fan 134 disposed inside the main body 104 can generate airflow inside the main body 104 to cool both the first motor 114 and the second motor 116. Therefore, the first motor 114 and the second motor 116 can be cooled using a simple structure.

[0040] In the vertical articulated robot 100 , an air inlet 130 is disposed on a lower surface 138 of a second motor cover 128 covering the opening 126 of the second motor chamber 120 , and an air supply fan 134 is disposed inside the main body 104 . Therefore, dust and cutting oil do not enter through the air inlet 130 .

[0041] Figure 5 yes Figure 1 1 is a top view of a vertical articulated robot 100. In the figure, a frame interference radius R of a main body 104 of the vertical articulated robot 100 is shown.

[0042] In the vertical articulated robot 100, as described above, the air supply fan 134 is disposed inside the main body 104. When the air supply fan 134 is provided as shown in the present embodiment, the second motor cover 128 may need to be enlarged to accommodate the air supply fan 134, compared to when the air supply fan 134 is not provided.

[0043] However, in this case, since the air inlet 130 is arranged on the lower surface of the second motor cover 128 and the air supply fan 134 is arranged near the air inlet 130, the second motor cover 128 is enlarged downward, and since it does not need to be enlarged in the horizontal direction, the frame interference radius R of the main body 104 will not be increased. Therefore, assuming that the air supply fan 134A is externally disposed on the main body 104 as shown by the dotted line in the figure, in the vertical multi-joint robot 100, the frame interference radius R will not be increased, and the appearance will not be damaged.

[0044] Therefore, according to the vertical articulated robot 100 , even if the first motor 114 and the second motor 116 are covered by the first motor cover 124 and the second motor cover 128 , respectively, the first motor 114 and the second motor 116 can be cooled with a simple structure without increasing the frame interference radius R.

[0045] In addition, in the vertical multi-joint robot 100, the air supply fan 134 is arranged near the air inlet 130 (intake fan), but it is not limited to this, and the air supply fan 134 may be arranged near the exhaust port 132 (exhaust fan). In addition, in the vertical multi-joint robot 100, the direction of the airflow may be reversed, and the exhaust port 132 may be formed in the second motor cover 128, and the air inlet 130 may be formed on the lower surface of the first motor cover 124 or the first motor chamber 118. Even in such a case, an airflow for cooling both the first motor 114 and the second motor 116 can be generated by a single air supply fan 134, so that the first motor 114 and the second motor 116 can be cooled by a simple structure.

[0046] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the present invention is certainly not limited to substrate conveying applications. It is obvious to those skilled in the art that various variations or modifications can be thought of within the scope of the claims, and these variations or modifications certainly also belong to the technical scope of the present invention.

[0047] Industrial Applicability

[0048] The present invention can be utilized as a vertical multi-joint robot having an arm.

Claims

1. A vertical multi-jointed robot having an arm, characterized in that: The vertical multi-joint robot has: abutment; A main body, which is placed on the base; a first motor that rotates the main body relative to the base; a second motor that rotates the arm relative to the main body; a first motor chamber formed inside the main body and accommodating the first motor; a second motor chamber formed inside the main body and accommodating the second motor; a communication port formed inside the main body and connecting the first motor chamber and the second motor chamber; a first motor cover covering an opening of the first motor chamber; a second motor cover covering an opening of the second motor chamber; an air intake port formed on a lower surface of one of the first motor cover and the second motor cover; an exhaust port, which is formed in the second motor cover when the air inlet is formed in the first motor cover, and which is formed in the first motor cover when the air inlet is formed in the second motor cover; and An air supply fan is arranged near the air inlet or the air outlet and inside the main body.

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