Robot

Abstract

The invention provides a robot which can suppress mutual interference of parts and can easily dismount the parts. The robot includes: a base; the mechanical arm rotates relative to the base; the speed reducer is connected with the base and the mechanical arm; the motor is connected with the speed reducer; a control substrate for controlling the driving of the motor; and a power supply substrate for supplying power to the control substrate, the base having: a first housing on which at least one of the speed reducer, the motor, the control substrate, and the power supply substrate is mounted; and a second housing in which at least one of the decelerator, the motor, the control board, and the power supply board is mounted except for the components mounted on the first housing.

Description

Technical Field

[0001] The present invention relates to robots. Background Art

[0002] The robot described in Patent Document 1 includes a robot body having a base and a robot arm displaceably connected to the base. The robot arm includes a first arm rotatably connected to the base; a second arm rotatably connected to the first arm; a third arm rotatably connected to the second arm; a fourth arm rotatably connected to the third arm; a fifth arm rotatably connected to the fourth arm; and a sixth arm rotatably connected to the fifth arm.

[0003] The robot described in Patent Document 1 includes a speed reducer and a motor, both of which are housed within a base. The speed reducer rotatably connects the base to a first arm, and the motor rotates the first arm via the speed reducer. Furthermore, the base houses a control board for controlling the driving of the robot body, a power supply board for supplying power to the control board, and a drive board for driving the motors in each arm based on commands from the control board.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2019-063933

[0005] In the configuration in which many parts are housed in the base as described above, there is a problem in that it takes time and effort to attach and detach the parts because the parts interfere with each other. Summary of the Invention

[0006] The robot of the present invention comprises: a base; a robotic arm that rotates relative to the base; a reducer that connects the base and the robotic arm; a motor that is connected to the reducer; a control substrate that controls the drive of the motor; and a power substrate that supplies power to the control substrate, and the base comprises: a first shell that is installed with at least one of the reducer, the motor, the control substrate and the power substrate; and a second shell that is installed with at least one of the reducer, the motor, the control substrate and the power substrate except the components installed on the first shell.

[0007] The robot of the present invention comprises: a base; a robotic arm that rotates relative to the base; a reducer that connects the base and the robotic arm; a motor that is connected to the reducer; a control substrate that controls the drive of the motor; a power substrate that supplies power to the control substrate; and a fan, and the base comprises: a first shell that is installed with at least one of the reducer, the motor, the control substrate, the power substrate and the fan; and a second shell that is installed with at least one of the reducer, the motor, the control substrate, the power substrate and the fan except the components installed on the first shell. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a side view showing the robot according to the first embodiment.

[0009] Figure 2 This is a cross-sectional view of the base as viewed from the positive side in the X-axis direction.

[0010] Figure 3 This is a cross-sectional view of the base viewed from the negative side in the Y-axis direction.

[0011] Figure 4 This is a cross-sectional view for explaining the assembly process of the base.

[0012] Figure 5 This is a cross-sectional view for explaining the assembly process of the base.

[0013] Figure 6 This is a cross-sectional view for explaining the assembly process of the base.

[0014] Figure 7 This is a cross-sectional view for explaining the assembly process of the base.

[0015] Figure 8 This is a cross-sectional view for explaining the assembly process of the base.

[0016] Figure 9 This is a cross-sectional view for explaining the assembly process of the base.

[0017] Figure 10 It is a cross-sectional view showing a modified example of the base.

[0018] Figure 11 It is a cross-sectional view showing a modified example of the base.

[0019] Figure 12 It is a cross-sectional view showing a modified example of the base.

[0020] Figure 13 It is a cross-sectional view showing a modified example of the base.

[0021] Figure 14It is a cross-sectional view of a base included in the robot according to the second embodiment.

[0022] Figure 15 This is a cross-sectional view for explaining the assembly process of the base.

[0023] Figure 16 This is a cross-sectional view for explaining the assembly process of the base.

[0024] Figure 17 This is a cross-sectional view for explaining the assembly process of the base.

[0025] Figure 18 It is a cross-sectional view of a base included in a robot according to a third embodiment.

[0026] Description of Reference Numerals

[0027] 1: Robot, 21: Base, 22: Robotic arm, 221: Arm, 222: Arm, 223: Arm, 224: Arm, 225: Arm, 226: Arm, 23: First housing, 231: Housing body, 231a: First opening, 231b: Second opening, 232: Cover, 24: Second housing, 25: Outer housing, 251: Housing body, 251a: First opening, 251b: Second opening, 252: First cover, 253: Second cover, 26: Inner housing, 27: First Shell, 271: Opening, 28: Second shell, 29: Third shell, 3: Driving mechanism, 31: Motor, 310: Motor plate, 32: Reducer, 321: Rigid gear, 322: Flexible gear, 323: Waveform generator, 33: Power transmission mechanism, 331: First pulley, 332: Second pulley, 333: Belt, 4: Control substrate, 5: Power substrate, 6: Fan, H: Through hole, J1: Joint, J2: Joint, J3: Joint, J4: Joint, J5: Joint, J6: Joint, L: Wiring. DETAILED DESCRIPTION

[0028] Hereinafter, the robot of the present invention will be described in detail based on the embodiments shown in the drawings.

[0029] First embodiment

[0030] Figure 1 This is a side view showing the robot according to the first embodiment. Figure 2 This is a cross-sectional view of the base as viewed from the positive side in the X-axis direction. Figure 3 This is a cross-sectional view of the base viewed from the negative side in the Y-axis direction. Figures 4 to 9 They are cross-sectional views for explaining the assembly process of the base. Figures 10 to 13 Each of them is a cross-sectional view showing a modified example of the base.

[0031] like Figure 1 As shown, robot 1 is a six-axis vertical articulated robot with six drive axes. It includes a base 21 fixed to the floor and a robot arm 22 rotatably connected to base 21. Robot arm 22 is composed of six arms 221, 222, 223, 224, 225, and 226 rotatably connected in order from base 21, and includes six joints J1, J2, J3, J4, J5, and J6. Specifically, arm 221 is rotatably connected to base 21 via joint J1. Arm 222 is rotatably connected to arm 221 via joint J2. Arm 223 is rotatably connected to arm 222 via joint J3. Arm 224 is rotatably connected to arm 223 via joint J4. Arm 225 is rotatably connected to arm 224 via joint J5. Arm 226 is rotatably connected to arm 225 via joint J6.

[0032] Among the joints J1-J6, joints J2, J3, and J5 are bending joints, while joints J1, J4, and J6 are torsion joints. Each joint J1-J6 is equipped with a drive mechanism 3 comprising a motor, a speed reducer that decelerates the motor's rotation, increases the torque, and outputs it, and an encoder that detects the motor's rotation. Furthermore, by independently operating each joint J1-J6, the tip of the robot arm 22 can be moved in a desired direction at a desired posture and speed.

[0033] The above briefly describes the overall structure of the robot 1. Next, the base 21 is described in detail. Figure 2 and Figure 3 As shown, a driving mechanism 3 for driving the joint J1, a control substrate 4 for driving each driving mechanism 3, and a power supply substrate 5 for supplying power to the control substrate 4 are arranged in the base 21. In addition, although not shown in the figure, in addition to these main components, there are also components other than the main components, metal fittings for fixing each component to the base 21, etc. In this way, although many components are arranged in the base 21, for example, in order to achieve space saving in the installation area of ​​the robot 1, the base 21 is required to be miniaturized. For this reason, it is difficult to ensure sufficient space in the base 21, and there is a possibility that the disassembly of the components, that is, the assembly or disassembly of the base 21, will be time-consuming due to interference between the components. Therefore, in the robot 1, a method is used to divide the base 21 into multiple shells, and the above-mentioned components are separately installed in the multiple shells, thereby making it easy to disassemble and remove the components relative to the base 21.

[0034] The base 21 will be described in detail below. However, before that, the configuration of the drive mechanism 3 , the control substrate 4 , and the power supply substrate 5 will be described first.

[0035] Drive mechanism 3

[0036] like Figure 2 and Figure 3 As shown, the drive mechanism 3 for driving the joint J1 includes a motor 31 with a built-in encoder, a speed reducer 32 that reduces the speed of the motor 31 and outputs the speed to the arm 221 , and a power transmission mechanism 33 that transmits power from the motor 31 to the speed reducer 32 .

[0037] The speed reducer 32 is a hollow speed reducer having a through hole H, and in this embodiment, a wave gear device. This through hole H connects the space within the base 21 with the space within the arm 221. Using a wave gear device as the speed reducer 32 reduces backlash within the speed reducer 32, enabling more precise control of the movement of the arm 221. However, the speed reducer 32 is not particularly limited, and may also be a planetary gear device, a roller cam speed reducer, or the like.

[0038] The speed reducer 32 mainly consists of a rigid gear 321, a flexible gear 322, and a waveform generator 323. Furthermore, the rigid gear 321 is screwed to the base 21, the flexible gear 322 is screwed to the arm 221, and the waveform generator 323 is connected to the motor 31 via the power transmission mechanism 33. In particular, in this embodiment, the waveform generator 323 is cylindrical and forms a through-hole H. Thus, the wiring L is routed between the base 21 and the robot arm 22 through the through-hole H. This configuration facilitates routing the wiring L because the wiring L can be inserted into the joint J1. Furthermore, for example, when routing the wiring L from outside the joint J1 to between the base 21 and the robot arm 22, a conduit or the like is required to prevent the wiring L from being exposed. This, in turn, results in increased cost and weight of the robot 1, increased unnecessary vibration, and reduced waterproofing and dustproofing.

[0039] The power transmission mechanism 33 includes a first pulley 331 attached to the output shaft of the motor 31; a second pulley 332 attached to the waveform generator 323 of the speed reducer 32; and a belt 333 looped around these first and second pulleys 331, 332. Therefore, the rotation of the motor 31 is transmitted to the waveform generator 323 of the speed reducer 32 via the first pulley 331, belt 333, and second pulley 332, causing the waveform generator 323 to rotate. Furthermore, the flexible gear 322 rotates at a predetermined reduction ratio relative to the rotation of the waveform generator 323, resulting in the arm 221 rotating relative to the base 21 about the rotation axis of the joint J1.

[0040] In this way, according to the structure of transmitting the rotation of the motor 31 to the reducer 32 via the power transmission mechanism 33, the configuration freedom of the motor 31 is increased. For this reason, the motor 31 can be configured in a position that does not interfere with the control substrate 4 and the power substrate 5. In addition, according to the power transmission mechanism 33, the motor 31 can be staggered relative to the reducer 32 in the horizontal direction, and the lower opening of the through hole H of the reducer 32 can be effectively prevented from overlapping with the motor 31 and being blocked. As a result, the routing of the wiring L becomes easier. In addition, for example, by adjusting the diameters of the first pulley 331 and the second pulley 332, the power transmission mechanism 33 can also be used as a reducer, and the reducer 32 and the power transmission mechanism 33 can also be used to set a larger reduction ratio.

[0041] While the drive mechanism 3 has been described above, the structure of the drive mechanism 3 is not particularly limited. For example, the speed reducer 32 need not be a wave gear device. Furthermore, the power transmission mechanism 33 may be omitted, and the output shaft of the motor 31 may be directly attached to the wave generator 323 of the speed reducer 32.

[0042] Control board 4

[0043] The control board 4 can independently control the driving of the motors included in the drive mechanisms 3 provided at each of the joints J1 to J6. This control board 4 includes a wiring board, a CPU (Central Processing Unit), an example of a processor, provided on the board, RAM (Random Access Memory), and a ROM (Read Only Memory) storing programs. The CPU then reads and executes the programs stored in the ROM, thereby fulfilling its function as a control unit for controlling the driving of the robot 1. It should be noted that, for ease of explanation, only the control board 4 is illustrated, and illustration of the various components provided on the board is omitted. Furthermore, in this embodiment, the number of control boards 4 is one, but this is not limited to this and may be two or more.

[0044] Power supply board 5

[0045] The power supply board 5 supplies power to the control board 4. The power supply board 5 includes a substrate with wiring and a conversion circuit. The conversion circuit is installed on the substrate and converts the externally supplied power into a predetermined value. The conversion circuit varies depending on the configuration of the robot 1. Examples include an AC / DC conversion circuit that converts an alternating current (AC) signal into a direct current (DC) signal, and a step-up or step-down circuit that converts the voltage level of a signal. Note that for ease of explanation, only the power supply board 5 is shown, and the components installed on the board are omitted. In this embodiment, the number of power supply boards 5 is one, but this is not limited to this and may be two or more.

[0046] The above describes the configuration of the drive mechanism 3 , the control board 4 , and the power board 5 . Next, the configuration of the base 21 and the arrangement of the drive mechanism 3 , the control board 4 , and the power board 5 within the base 21 will be described.

[0047] like Figure 2 As shown, the base 21 has a box-shaped first shell 23 and a plate-shaped second shell 24. The first shell 23 constitutes the bottom and side wall of the base 21, and the second shell 24 constitutes the top of the base 21. Figure 3 As shown, the first housing 23 includes a housing body 231 and a cover member 232. The housing body 231 serves as the base of the base 21 and has a first opening 231a and a second opening 231b that opens on the side. The first opening 231a is the opening that opens on the top surface. In particular, in this embodiment, the second opening 231b is formed on the back surface of the housing body 231, that is, on the positive side in the X-axis direction. Furthermore, the first opening 231a is blocked by the second housing 24, and the second opening 231b is blocked by the cover member 232.

[0048] like Figure 2 As shown, the second housing 24 is placed on the upper surface of the housing body 231 to block the first opening 231a. Figure 3 As shown, the cover part 232 is arranged on the back side of the shell body 231, blocking the second opening 231b. These second shell 24 and the cover part 232 are fixed to the shell body 231 by screw fastening. According to the screw fastening, the second shell 24 and the cover part 232 are easy to be assembled and disassembled relative to the shell body 231. However, the fixing method is not limited to screw fastening, for example, it can also be interlocking, screwing, etc. In addition, although not shown in the figure, waterproof / dustproof gaskets are respectively interposed between the shell body 231 and the second shell 24 and between the shell body 231 and the cover part 232. Thereby, it is possible to effectively prevent moisture, dust, etc. from intruding into the base 21. However, the waterproof / dustproof gasket can also be omitted.

[0049] In addition, if Figure 3 As shown, the control board 4 and the power board 5 are mounted on the cover member 232, and the drive mechanism 3 is mounted on the second housing 24. Thus, by separately mounting the drive mechanism 3, the control board 4, and the power board 5 in the first housing 23 and the second housing 24, the drive mechanism 3, the control board 4, and the power board 5 can be easily attached and detached.

[0050] For example, when assembling the driving mechanism 3 to the base 21, the following steps are sufficient: Figure 4 As shown, the driving mechanism 3, namely the motor 31, the reducer 32 and the power transmission mechanism 33 are installed in the second housing 24 removed from the first housing 23; Figure 5 As shown, the drive mechanism 3 is inserted into the housing body 231 through the first opening 231a, and the second housing 24 is placed on the upper surface of the housing body 231; and Figure 6 As shown, the second housing 24 is screwed to the housing body 231, thereby blocking the first opening 231a. Conversely, when removing the drive mechanism 3 from the base 21, the following steps are sufficient: remove the screws securing the second housing 24 to the housing body 231; then lift the second housing 24 and remove the drive mechanism 3 from the housing body 231 through the first opening 231a.

[0051] In this way, according to the robot 1, by disassembling the second shell 24 relative to the shell body 231, the drive mechanism 3 can be disassembled and assembled relative to the shell body 231. For this reason, the disassembly and assembly of the drive mechanism 3 becomes easy. In addition, by screwing the second shell 24 to the shell body 231, the drive mechanism 3 is automatically positioned. Furthermore, the drive mechanism 3 can be assembled to the second shell 24, adjusted, and maintained in a state where the second shell 24 is removed from the shell body 231, that is, in a wide space outside the base 21, so that these actions can be performed easily and with high precision. In particular, in this embodiment, the second shell 24 can be placed on the shell body 231. For this reason, the second shell 24 can be easily screwed to the shell body 231.

[0052] In addition, for example, when assembling the control substrate 4 and the power substrate 5 to the base 21, the following steps are sufficient: Figure 7 As shown, the control substrate 4 and the power substrate 5 are mounted on the cover member 232 removed from the housing body 231; Figure 8 As shown, the control substrate 4 and the power substrate 5 are inserted into the housing body 231 through the second opening 231b, and the cover member 232 is arranged on the back of the housing body 231; and Figure 9As shown, the cover member 232 is screwed to the housing body 231, thereby blocking the second opening 231b. Conversely, when removing the control board 4 and the power board 5 from the base 21, the following steps are sufficient: remove the screws securing the cover member 232 to the housing body 231; then remove the cover member 232 and pull the control board 4 and the power board 5 out of the housing body 231 through the second opening 231b.

[0053] Thus, according to the robot 1, by attaching and detaching the cover member 232 from the housing body 231, the control board 4 and the power board 5 can be simultaneously attached and detached from the housing body 231. This facilitates attachment and detachment of the control board 4 and the power board 5. Furthermore, by screwing the cover member 232 to the housing body 231, the control board 4 and the power board 5 are automatically positioned. Furthermore, with the cover member 232 removed from the housing body 231, the control board 4 and the power board 5 can be assembled to the cover member 232, adjusted, and maintained in a spacious space outside the base 21. These operations can be performed easily and with high precision.

[0054] In particular, in this embodiment, the control board 4 and the power board 5 are each mounted directly to the cover member 232 without intervening through supporting members such as metal fittings. This reduces the number of components within the base 21, creating a correspondingly large margin within the base 21, effectively preventing interference between components. However, this is not limiting; the control board 4 and the power board 5 may also be secured to the cover member 232 via supporting members such as metal fittings.

[0055] The robot 1 has been described above. As described above, the robot 1 includes a base 21, a robot arm 22 that rotates relative to the base 21, a speed reducer 32 connecting the base 21 and the robot arm 22, a motor 31 connected to the speed reducer 32, a control board 4 that controls the drive of the motor 31, and a power supply board 5 that supplies power to the control board 4. Furthermore, the base 21 includes a first housing 23 and a second housing 24. At least one of the speed reducer 32, the motor 31, the control board 4, and the power supply board 5 is mounted in the first housing 23, while at least one of the speed reducer 32, the motor 31, the control board 4, and the power supply board 5, excluding the components mounted in the first housing 23, is mounted in the second housing 24. By arranging the speed reducer 32, the motor 31, the control board 4, and the power supply board 5 separately in the first housing 23 and the second housing 24, the second housing 24 can be attached to and detached from the first housing 23. This allows for easy attachment and detachment of the components while effectively preventing interference between the components.

[0056] As described above, the control board 4 and the power board 5 are mounted on the first housing 23, and the speed reducer 32 and the motor 31 are mounted on the second housing 24. By mounting the speed reducer 32 and the motor 31 on the second housing 24, the speed reducer 32 and the motor 31 can be removed from the first housing 23 by removing the second housing 24 from the first housing 23. This allows the speed reducer 32 and the motor 31 to be assembled, adjusted, and maintained while the second housing 24 is removed from the first housing 23, making these operations easier.

[0057] As mentioned above, the second housing 24 is also equipped with a power transmission mechanism 33. This power transmission mechanism 33 connects the motor 31 and the speed reducer 32, transmitting the driving force of the motor 31 to the speed reducer 32. The power transmission mechanism 33 includes a first pulley 331 connected to the output shaft of the motor 31; a second pulley 332 connected to the input side of the speed reducer 32; and a belt 333 looped around the first pulley 331 and the second pulley 332. This configuration increases the flexibility of the placement of the motor 31, allowing the motor 31 to be positioned where it will not interfere with other accessories, particularly the control board 4 and the power board 5.

[0058] As described above, the first housing 23 has the first opening 231a, which is blocked by the second housing 24. The speed reducer 32 and the motor 31 are inserted into the first housing 23 through the first opening 231a. With this configuration, the speed reducer 32 and the motor 31 can be easily inserted and removed from the first housing 23.

[0059] Furthermore, as described above, the second housing 24 is fixed to the first housing 23 in a state of being placed on the first housing 23. With such a configuration, the second housing 24 can be easily fixed to the first housing 23.

[0060] As described above, the speed reducer 32 is a hollow speed reducer and includes the wiring L that passes through the speed reducer 32 and is routed between the base 21 and the robot arm 22. With such a configuration, the routing of the wiring L becomes easier.

[0061] As mentioned above, the robot 1 of this embodiment has been described, but the configuration of the robot 1 is not limited thereto.

[0062] For example, in this embodiment, the control board 4 and the power board 5 are mounted in the first housing 23, and the drive mechanism 3, namely, the motor 31, the speed reducer 32, and the power transmission mechanism 33, are mounted in the second housing 24. However, there is no particular limitation on whether the drive mechanism 3, the control board 4, and the power board 5 are mounted in the first housing 23 or the second housing 24. For example, the motor 31, the control board 4, and the power board 5 may be mounted in the first housing 23, and the speed reducer 32 may be mounted in the second housing 24. Alternatively, the speed reducer 32, the control board 4, and the power board 5 may be mounted in the first housing 23, and the motor 31 may be mounted in the second housing 24. Alternatively, the speed reducer 32 may be mounted in the first housing 23, and the motor 31, the control board 4, and the power board 5 may be mounted in the second housing 24. Alternatively, the motor 31 may be mounted in the first housing 23, and the speed reducer 32, the control board 4, and the power board 5 may be mounted in the second housing 24. Alternatively, the motor 31 and the speed reducer 32 may be mounted on the first housing 23 , and the control board 4 and the power board 5 may be mounted on the second housing 24 .

[0063] In addition, for example, Figure 10 As shown, the first opening 231a of the housing body 231 is formed throughout the entire upper end portion of the housing body 231. In other words, the entire top portion of the base 21 can be formed by the second housing 24. This configuration can further increase the size of the first opening 231a, making it easier to insert and remove the drive mechanism 3 from the housing body 231.

[0064] In addition, for example, Figure 11 As shown, the second opening 231 b is formed on a side wall portion other than the back surface of the housing body 231 .

[0065] In addition, for example, Figure 12 As shown, the first housing 23 is in the form of a plate that forms the bottom of the base 21, and the second housing 24 is in the form of a box that forms the top and side walls of the base 21. In this case, the control board 4 and the power board 5 are fixed to the upper surface of the first housing 23, and the second housing 24, on which the drive mechanism 3 is mounted, is fixed to the first housing 23 as a cover, thereby housing these components within the base 21.

[0066] In addition, in this embodiment, the base 21 is divided into the first shell 23 and the second shell 24, but it is not limited to this. For example, Figure 13As shown, the base 21 is divided into a first housing 23, a second housing 24, and a third housing 29, with the drive mechanism 3, the control board 4, and the power board 5 mounted separately in the first housing 23, the second housing 24, and the third housing 29. In other words, a configuration may also be employed in which the first housing 23 is mounted with at least one of the speed reducer 32, the motor 31, the control board 4, and the power board 5; the second housing 24 is mounted with at least one of the speed reducer 32, the motor 31, the control board 4, and the power board 5, excluding the components mounted in the first housing 23; and the third housing 29 is mounted with the remaining components of the speed reducer 32, the motor 31, the control board 4, and the power board 5. It should be noted that in the illustrated example, the power board 5 is mounted in the first housing 23, the drive mechanism 3 is mounted in the second housing 24, and the control board 4 is mounted in the third housing 29. However, there is no particular limitation on the housing in which the drive mechanism 3, the control board 4, and the power board 5 are mounted. Furthermore, the base 21 may be divided into a fourth housing, a fifth housing, or a larger number of housings.

[0067] Second embodiment

[0068] Figure 14 It is a cross-sectional view of a base included in the robot according to the second embodiment. Figures 15 to 17 They are cross-sectional views for explaining the assembly process of the base.

[0069] The robot 1 of this embodiment is identical to the robot 1 of the first embodiment, except for the configuration of the base 21. It should be noted that the following description of the robot 1 of this embodiment will focus on the differences from the first embodiment, and description of similarities will be omitted. In the figures of this embodiment, components identical to those of the previous embodiment are denoted by the same reference numerals.

[0070] like Figure 14 As shown, the robot 1 of this embodiment includes a base 21 having an outer housing 25 as a first housing and an inner housing 26 as a second housing housed within the outer housing 25. The outer housing 25 is box-shaped and includes a housing body 251, a first cover member 252, and a second cover member 253. The housing body 251 has a first opening 251a on the front and a second opening 251b on the back. The first cover member 252 closes the first opening 251a, and the second cover member 253 closes the second opening 251b. As described later, the second opening 251b is used to insert the inner housing 26 into the outer housing 25, while the first opening 251a is used to adjust the tension of the belt 333. The inner housing 26 is box-shaped and has an airtight interior.

[0071] In this base 21, the speed reducer 32 is mounted on the outer housing 25, and the motor 31, control board 4, and power board 5 are mounted on the inner housing 26. In particular, the control board 4 and power board 5 are each housed in an airtight space within the inner housing 26. This effectively protects the control board 4 and power board 5 from moisture and dust. In contrast, the motor 31 is located outside the inner housing 26 and is mounted to the inner housing 26 via a motor plate 310. This placement of the motor 31 outside the inner housing 26 makes it easier to loop the belt 333 between the speed reducer 32 and motor 31 within the outer housing 25.

[0072] In the base 21 of such a structure, the drive mechanism 3, the control substrate 4 and the power substrate 5 are assembled and disassembled as follows. For example, when assembling the drive mechanism 3, the control substrate 4 and the power substrate 5 to the base 21, first, as shown in FIG. Figure 15 As shown, the speed reducer 32 is mounted on the outer housing 25 while the inner housing 26 is removed from the outer housing 25. Note that the second pulley 332 is pre-installed on the waveform generator 323 of the speed reducer 32. By removing the inner housing 26 from the outer housing 25 in advance, a wide space can be secured within the outer housing 25, making it easier to mount the speed reducer 32 on the outer housing 25.

[0073] Next, the control board 4 and the power board 5 are installed in their respective designated positions within the inner housing 26. Next, the motor 31 is mounted to the inner housing 26 via the motor plate 310 on the outside of the inner housing 26. Note that a first pulley 331 is pre-installed on the output shaft of the motor 31. This method allows the control board 4, power board 5, and motor 31 to be assembled into the inner housing 26, and adjusted and maintained, while the inner housing 26 is removed from the outer housing 25, that is, in a spacious space outside the outer housing 25. This allows these operations to be performed easily and with high precision.

[0074] Then, if Figure 16 As shown in FIG. 2 , the inner housing 26 is inserted into the outer housing 25 through the second opening 251b. Figure 17As shown, the belt 333 is wound around the first pulley 331 and the second pulley 332 through the first opening 251a. Then, the inner housing 26 is moved within the outer housing 25 to change the distance between the first pulley 331 and the second pulley 332 to adjust the tension of the belt 333. This method makes it easy to adjust the tension of the belt 333. Once the tension of the belt 333 is adjusted, the inner housing 26 is fixed to the outer housing 25 in this position. Finally, the first cover member 252 and the second cover member 253 are attached to the housing body 251. Through the above steps, the drive mechanism 3, the control board 4, and the power board 5 are attached to the base 21.

[0075] According to the base 21 of such a structure, the speed reducer 32 and the motor 31 can be attached to and detached from the base 21 by inserting and removing the inner housing 26 from the outer housing 25. Therefore, the speed reducer 32 and the motor 31 can be easily assembled, adjusted, maintained, etc.

[0076] As described above, in the robot 1 of this embodiment, the inner housing 26, serving as the second housing, is housed within the outer housing 25, serving as the first housing. Furthermore, the reducer 32 is mounted on the outer housing 25, while the motor 31, the control board 4, and the power supply board 5 are mounted on the inner housing 26. With this configuration, the reducer 32 and the motor 31 can be attached and detached from the base 21 by inserting and removing the inner housing 26 from the outer housing 25. This facilitates assembly, adjustment, and maintenance of the reducer 32 and the motor 31.

[0077] As described above, inner housing 26 is box-shaped, with control board 4 and power board 5 housed within it, and motor 31 positioned outside it. This configuration effectively protects control board 4 and power board 5 from moisture and dust. Furthermore, connection between motor 31 and speed reducer 32 is facilitated.

[0078] As described above, the robot 1 includes a power transmission mechanism 33, which is located between the motor 31 and the speed reducer 32 and transmits the driving force of the motor 31 to the speed reducer 32. The power transmission mechanism 33 includes a first pulley 331 connected to the output shaft of the motor 31, a second pulley 332 connected to the input side of the speed reducer 32, and a belt 333 looped around the first and second pulleys 331 and 332. The tension of the belt 333 is adjusted by adjusting the position of the inner housing 26 relative to the outer housing 25. This configuration makes it easy to adjust the tension of the belt 333.

[0079] According to the second embodiment, the same effects as those of the first embodiment can be achieved.

[0080] Third embodiment

[0081] Figure 18 It is a cross-sectional view of a base included in a robot according to a third embodiment.

[0082] The robot 1 of this embodiment is identical to the robot 1 of the first embodiment, except for the configuration of the base 21. It should be noted that the following description of the robot 1 of this embodiment will focus on the differences from the first embodiment, and description of similarities will be omitted. In the figures of this embodiment, components identical to those of the previous embodiment are denoted by the same reference numerals.

[0083] like Figure 18 As shown, the robot 1 of this embodiment includes a base 21 having a first housing 27 and a second housing 28. The first housing 27 has an opening 271 formed in the front surface of the side wall, and the second housing 28 is mounted to the first housing 27 to close the opening 271. Furthermore, the first housing 27 houses the drive mechanism 3, the control board 4, and the power board 5, which are mounted at predetermined locations on the first housing 27. Meanwhile, a fan 6 is fixed to the second housing 28. The fan 6 has the function of blowing air toward the control board 4 and the power board 5 to cool them. Thus, by separately mounting the drive mechanism 3, the control board 4, the power board 5, and the fan 6 in the first housing 27 and the second housing 28, the drive mechanism 3, the control board 4, the power board 5, and the fan 6 can be easily attached and detached.

[0084] For example, when assembling the drive mechanism 3 to the base 21, the following steps are performed: remove the second housing 28 from the first housing 27; attach the drive mechanism 3, the control board 4, and the power board 5 to the first housing 27 through the opening 271; adjust the position of the motor 31 relative to the speed reducer 32 to adjust the tension of the belt 333; attach the fan 6 to the second housing 28; arrange the second housing 28 so as to block the opening 271 and insert the fan 6 into the first housing 27 through the opening 271; and screw the second housing 28 to the first housing 27. In this way, by separately attaching the drive mechanism 3, the control board 4, the power board 5, and the fan 6 to the first housing 27 and the second housing 28, the second housing 28 can be attached and detached from the first housing 27. This allows for easy attachment and detachment of the components while effectively preventing interference between the components.

[0085] In addition, since the reducer 32 and the motor 31 are mounted on the first housing 27, their alignment and the like can be completed before the second housing 28 is mounted on the first housing 27. For this reason, the assembly of the base 21 becomes easy. In particular, in this embodiment, the motor 31 is arranged in the first housing 27 so as to face the opening 271. In other words, the motor 31 is arranged at the front side as seen from the opening 271 in such a manner that no other components are interposed between the motor 31 and the opening 271. According to such a configuration, the position of the motor 31 can be easily adjusted through the opening 271, and the tension of the belt 333 can be easily adjusted.

[0086] As described above, the robot 1 of this embodiment includes a base 21, a robot arm 22 that rotates relative to the base 21, a speed reducer 32 connecting the base 21 and the robot arm 22, a motor 31 connected to the speed reducer 32, a control board 4 that controls the drive of the motor 31, a power supply board 5 that supplies power to the control board 4, and a fan 6. Furthermore, the base 21 includes a first housing 27 and a second housing 28. At least one of the speed reducer 32, the motor 31, the control board 4, the power supply board 5, and the fan 6 is mounted in the first housing 27, while at least one of the speed reducer 32, the motor 31, the control board 4, the power supply board 5, and the fan 6, excluding the components mounted in the first housing 27, is mounted in the second housing 28. Thus, by separately mounting the speed reducer 32, the motor 31, the control board 4, the power supply board 5, and the fan 6 in the first housing 27 and the second housing 28, the second housing 28 can be attached to and detached from the first housing 27. This allows for easy attachment and detachment of the components while effectively preventing interference between the components.

[0087] As described above, at least the speed reducer 32 and the motor 31 are mounted on the first housing 27, and at least the fan 6 is mounted on the second housing 28. With this configuration, since the speed reducer 32 and the motor 31 are mounted on the first housing 27, their positioning and other aspects can be completed before the second housing 28 is mounted on the first housing 27. This facilitates assembly of the base 21.

[0088] As described above, a power transmission mechanism 33 is also mounted on the first housing 27. This power transmission mechanism 33 connects the motor 31 and the speed reducer 32 and transmits the driving force of the motor 31 to the speed reducer 32. The power transmission mechanism 33 includes a first pulley 331 connected to the output shaft of the motor 31, a second pulley 332 connected to the input side of the speed reducer 32, and a belt 333 wound around the first pulley 331 and the second pulley 332. Furthermore, the first housing 27 has an opening 271 that is blocked by the second housing 28, and the motor 31 faces the opening 271. This configuration makes it easy to adjust the position of the motor 31 through the opening 271, and it is also easy to adjust the tension of the belt 333.

[0089] According to the third embodiment, the same effects as those of the first embodiment can be achieved.

[0090] As mentioned above, the robot 1 of this embodiment has been described, but the configuration of the robot 1 is not limited thereto.

[0091] For example, in this embodiment, a drive mechanism 3, a control substrate 4, and a power supply substrate 5 are installed in the first housing 27, and a fan 6 is installed in the second housing 28, but there is no particular limitation on whether the drive mechanism 3, the control substrate 4, the power supply substrate 5, and the fan 6 are installed in the first housing 27 or the second housing 28.

[0092] In this embodiment, the base 21 is divided into a first housing 27 and a second housing 28, but this is not limiting. For example, the base 21 may be divided into a first housing 27, a second housing 28, and a third housing, with the drive mechanism 3, the control board 4, the power board 5, and the fan 6 mounted separately in the first housing 27, the second housing 28, and the third housing. In other words, a configuration may include a first housing 27 mounting at least one of the speed reducer 32, the motor 31, the control board 4, the power board 5, and the fan 6; a second housing 28 mounting at least one of the speed reducer 32, the motor 31, the control board 4, the power board 5, and the fan 6, excluding the components mounted in the first housing 27; and a third housing mounting the remaining components of the speed reducer 32, the motor 31, the control board 4, the power board 5, and the fan 6. Furthermore, the base 21 may be divided into a fourth housing, a fifth housing, or a greater number of housings.

[0093] While the robot of the present invention has been described above based on the illustrated embodiments, the present invention is not limited thereto. The configuration of each component can be replaced with any configuration having the same function. Furthermore, any other configurations may be added to the present invention. Furthermore, the above embodiments may be appropriately combined.

Claims

1. A robot, characterized in that: have: base; a robotic arm, rotating relative to the base; a reducer, connecting the base and the robotic arm; a motor connected to the reducer; A control substrate for controlling the driving of the motor; as well as a power supply substrate for supplying power to the control substrate; The base has: a first housing, on which at least one of the reducer, the motor, the control substrate, and the power substrate is mounted; as well as The second housing is mounted with at least one of the speed reducer, the motor, the control board, and the power board except for the components mounted on the first housing.

2. The robot according to claim 1, characterized in that The control substrate and the power substrate are mounted on the first housing. The speed reducer and the motor are mounted on the second housing.

3. The robot according to claim 2, characterized in that The second housing is further provided with a power transmission mechanism, which connects the motor and the reducer and transmits the driving force of the motor to the reducer. The power transmission mechanism comprises: a first pulley connected to the output shaft of the motor; a second pulley connected to the input side of the reducer; and A belt is hung around the first pulley and the second pulley.

4. The robot according to claim 2, characterized in that The first shell has an opening portion blocked by the second shell, The speed reducer and the motor are inserted into the first housing through the opening.

5. The robot according to claim 4, characterized in that The second housing is fixed to the first housing while being placed on the first housing.

6. The robot according to claim 1, characterized in that The second shell is received in the first shell. The reducer is mounted on the first housing. The motor, the control substrate, and the power supply substrate are mounted on the second housing.

7. The robot according to claim 6, characterized in that The second shell is box-shaped. The control substrate and the power substrate are housed in the second housing. The motor is disposed outside the second housing.

8. The robot according to claim 7, characterized in that The robot has a power transmission mechanism, which is located between the motor and the reducer and transmits the driving force of the motor to the reducer. The power transmission mechanism comprises: a first pulley connected to the output shaft of the motor; a second pulley connected to the input side of the reducer; and A belt is hung around the first pulley and the second pulley, By adjusting the position of the second housing relative to the first housing, the tension of the strap can be adjusted.

9. A robot, characterized in that: have: base; a robotic arm, rotating relative to the base; a reducer, connecting the base and the robotic arm; a motor connected to the reducer; A control substrate for controlling the driving of the motor; a power supply substrate for supplying power to the control substrate; as well as fan, The base has: a first housing, on which at least one of the reducer, the motor, the control substrate, the power substrate, and the fan is mounted; as well as The second housing is provided with at least one of the speed reducer, the motor, the control board, the power board, and the fan, excluding the components mounted on the first housing.

10. The robot according to claim 9, characterized in that At least the reducer and the motor are installed in the first housing. At least the fan is mounted on the second housing.

11. The robot according to claim 10, characterized in that A power transmission mechanism is also installed on the first housing, which connects the motor and the reducer and transmits the driving force of the motor to the reducer. The power transmission mechanism comprises: a first pulley connected to the output shaft of the motor; a second pulley connected to the input side of the reducer; and A belt is hung around the first pulley and the second pulley, The first shell has an opening portion blocked by the second shell, The motor faces the opening.

12. The robot according to claim 1 or 11, characterized in that: The reducer is a hollow reducer, The robot has wiring that passes through the hollow speed reducer and is routed between the base and the robot arm.

Images