Multi-jointed robot with a device for cooling a motor

Abstract

Multi-jointed robot (10) including: a movable body (22, 24, 26, 28); a motor (40) for generating power to drive the moving body (22, 24, 26, 28); a motor housing (50) for receiving the motor (40) in its interior (52), so that it insulates the motor (40) from an external environment; and a cooling arrangement for cooling the motor (40) by dissipating heat generated by the motor (40), wherein the motor (40) has a heat-generating surface (46) on one side of the motor body, wherein the cooling arrangement comprises a heat conductor (80) which is arranged in the interior (52) of the motor housing (50), wherein the heat conductor (80) forms a heat-conducting path from the motor (40) to the motor housing (50), and wherein the heat conductor (80) has a first contact surface (82) which is configured to be in contact with the heat-generating surface (46) of the motor (40), and a second contact surface (84) which is configured to be in contact with an inner surface (54, 56) of the motor housing (50), and wherein the heat-conducting path is formed by moving the first contact surface (82) on the opposite heat-generating surface (46) and / or the second contact surface (84) on the inner surface (54, 56) to set a position of the heat conductor (80), and subsequently fixing the heat conductor (80) by a fastening (70, 72, 74, 76a).

Description

Background of the invention 1. Field of the invention

[0001] The present invention relates to a multi-jointed robot and a manufacturing method for a multi-jointed robot. 2. Description of the related prior art

[0002] A multi-jointed robot is often used in harsh environments frequently exposed to splashes or dust, or in corrosive conditions. Components, such as a motor driving an arm, are therefore often housed indoors, insulated from the outside to prevent malfunctions. Such a design tends to make it difficult to adequately dissipate heat generated by a heat source, such as the motor, when the robot is in operation. JP-U-62-25193, JP-A-1-274993, and JP-A-9-323286 disclose an arrangement for improving heat dissipation by providing a thermally conductive part in a gap between a heat-generating section of a motor and a component of the robot.

[0003] There is still a need for a multi-jointed robot equipped with a cooling arrangement for cooling a motor housed in an enclosed space.

[0004] Document JP H09-323 286 A describes an industrial robot with a motor base and a cover attached to the robot's main body. An aluminum plate is attached to the cover, and a motor is mounted to the motor base via a mounting flange. A coding element forming part of the motor and the plate define a small gap filled with thermally conductive grease and face each other. In a second embodiment, no cover is provided, so the motor is directly exposed to the outside air.

[0005] Document JP H10-290 550 A discloses a motor that is attached to a predetermined location on a frame part by screws. A heat conductor is then slid onto the frame part, such that a concave section of the heat conductor is secured between projections and the frame part, the concave section of the heat conductor engaging with an elastic hook provided on the frame part.

[0006] Document DE 280 189 A merely describes a method for controlling the ventilation strength when cooling electrical machines with variable speed by means of fans rotating with a machine shaft, wherein the control of the ventilation strength of the fan rotating with the machine shaft is carried out automatically as a function of the speed of the machine.

[0007] Document DE 103 49 452 A1 describes a SCARA robot comprising a robot console, a first robot arm pivotally mounted on a first pivot axis, and a second robot arm with a work unit pivotally mounted on the first robot arm and mounted on a second pivot axis substantially parallel to the first pivot axis. A heat sink forms part of a wall of the robot console. Another finned heat sink is inserted into a cutout in a wall section of the housing of the second robot arm.

[0008] Document US 4,191,240 A discloses a pump housing and base manufactured as plastic parts by injection molding. Air is displaced from a gap by means of a thermally conductive filler material, which is introduced into the gap and conformed to the dimensions of the gap.

[0009] Document US 5,906,236 A describes a heat exchange jacket for attachment to an external surface of a pump motor.

[0010] Document CN 101 772 879 A discloses a motor cooling structure comprising a coil end cover arranged between a coil end and a motor housing, and a fluid passage in which a cooling fluid flows and which is formed between the coil end cover and the coil end. Summary of the invention

[0011] The present invention relates to a multi-joint robot with the features of claim 1 and a manufacturing method for manufacturing a multi-joint robot with the features of claim 4.

[0012] According to one aspect, a multi-jointed robot comprises: a movable body; a motor to generate power to drive the movable body; a motor housing to accommodate the motor in its interior, thus isolating the motor from an external environment;and a cooling arrangement for cooling the motor by dissipating heat generated by the motor, wherein the motor has a heat-generating surface on which heat is generated, wherein the cooling arrangement comprises a heat conductor arranged in the interior of the motor housing, wherein the heat conductor forms a heat-conducting path for conducting heat from the motor to the motor housing, and wherein the heat conductor has a first contact surface configured to be in contact with the heat-generating surface of the motor, and a second contact surface configured to be in contact with an inner surface of the motor housing in order to form the heat-conducting path by adjusting the position of the heat conductor by sliding at least one of the first contact surface and the second contact surface onto the opposite heat-generating surface or inner surface.

[0013] According to a second aspect, in the multi-joint robot according to the first aspect, the heat-generating surface of the motor and the inner surface of the motor housing extend at an angle relative to each other, and the first contact surface and the second contact surface extend at an angle relative to each other, so that they each form an angle between them, and the heat conductor is arranged to form the heat-conducting path by moving one of the first contact surface and the second contact surface of the heat conductor onto the opposite heat-generating surface or the inner surface, until the other of the first contact surface and the second contact surface comes into contact with the opposite heat-generating surface or the inner surface.

[0014] According to a third aspect, in the multi-joint robot according to the first aspect, the heat-generating surface of the motor and the inner surface of the motor housing extend parallel to each other, and the first contact surface and the second contact surface of the heat conductor extend parallel to each other. The heat conductor comprises a first heat conductor, which forms the first contact surface, and a second heat conductor separate from the first heat conductor, the second heat conductor forming the second contact surface. The heat conductor is configured to form the heat-conducting path by moving a [missing information] from the first contact surface of the first heat conductor and the second contact surface of the second heat conductor onto the opposite heat-generating surface or the inner surface until the first heat conductor and the second heat conductor come into contact with each other.

[0015] These and other tasks, features and advantages of the present invention will become clearer in light of the detailed description of its exemplary embodiments as shown in the drawings. Brief description of the drawings Fig. 1 is a sectional view that schematically represents a multi-jointed robot according to a first embodiment; Fig. 2 is a partially enlarged view, showing one in Fig. 1 shows area II; Fig. 3 is a partially enlarged view showing a multi-jointed robot according to a second embodiment. Fig. 2 represents; Fig. Figure 4 is an enlarged perspective view showing a multi-jointed robot according to the second embodiment; Fig. 5 is a partially enlarged view showing a multi-jointed robot according to a third embodiment. Fig. 2 represents; Fig. 6 is a partially enlarged view showing a multi-jointed robot according to a fourth embodiment. Fig. 2 represents; Fig. 7 is a partially enlarged view showing a multi-jointed robot according to a fifth embodiment. Fig. 2 represents; and Fig. 8 is an enlarged perspective view that shows one in Fig. 7 shows the heat conductor. Detailed description of the invention

[0016] Embodiments of the present invention are described below with reference to the accompanying drawings. The size of components in the illustrated embodiments may be altered for clarity.

[0017] Fig. Figure 1 is a sectional view showing a multi-jointed robot according to a first embodiment. The robot 10 comprises a base 20 mounted on a mounting surface, a first arm 22 coupled to the base 20 via a joint 30, a second arm 24 coupled to the first arm 22 via a joint 32, a third arm 26 coupled to the second arm 24 via a joint 34, and a wrist part 28 coupled to the third arm 26 via a joint 36.

[0018] The respective joints 30, 32, 34, and 36 are rotatable about axes X1, X2, X3, and X4, respectively, by means of motors 40 and reduction gear units 42. The first arm 22 can rotate about axis X1 at joint 30 relative to the base 20. The second arm 24 can rotate about axis X2 at joint 32 relative to the first arm 22. The third arm 26 can rotate about axis X3 at joint 34 relative to the second arm 24. The wrist section 28 can rotate about axis X4 at joint 36 relative to the third arm 26. The structure and function of such a multi-joint robot 10 are largely known from the prior art, and therefore a further description is omitted here.

[0019] Fig. 2 is a partially enlarged view, showing one in Fig. Area II shown in 1 represents the area shown. Area II represents the area shown in Fig. Figure 1 shows joint 32 and its surroundings. Although a drive unit of joint 32 is described below as an example, it is obvious that the present embodiments can also be applied to any other joints 30, 34 and 36.

[0020] A drive unit of the joint 32 comprises the second arm 24 as an example of a moving body, a motor 40 for generating power to drive the second arm 24, and a motor housing 50 for defining an interior space 52 in which the motor 40 is housed. The motor 40 is insulated from the exterior by the motor housing 50, thus protecting it from direct exposure to dust, splashes, etc., that may be present in the surrounding environment. The motor 40 includes an output shaft 40a through which the rotational power generated by the motor 40 is transmitted to the reduction gear unit 42. The reduction gear unit 42 has a receiving part and a delivering part, which are not shown. The reduction gear unit 42 is coupled to the output shaft 40a of the motor 40 at the receiving part, while it is coupled to the second arm 24 at the delivering part.The rotational power provided by the motor 40 is transmitted, after a delay and with a predetermined reduction ratio, through the reduction gear unit 42 to the second arm 24. On the side opposite the output shaft 40a, the motor 40 is equipped with a sensor 44, which determines information regarding the movement of the motor 40, such as its rotational position or rotational speed.

[0021] The motor 40 generates heat during its operation. The heat generated by the motor 40 is dissipated to the surrounding environment via an external surface of the motor 40. For example, heat is conducted to other components of the robot 10, such as the reduction gear unit 42 and the second arm 24, through a mounting part 40b of the motor 40 located on axis X2. In the present embodiment, the heat dissipation effect achieved by a gas present in the vicinity of the motor 40 is insufficient to cool the motor 40, since the motor 40 is insulated from the outside environment by the motor housing 50. Therefore, in addition to the heat-conducting path through the mounting part 40b of the motor 40, a cooling arrangement is also provided in the present embodiment to dissipate heat from the motor 40 and cool it.

[0022] In the present embodiment, the cooling arrangement comprises a heat conductor 80, which is arranged in the interior 52 of the motor housing 50 and forms a heat-conducting path extending from the motor 40 to the motor housing 50. The heat conductor 80 is made of a material with good thermal conductivity and stiffness, for example, a metal such as aluminum. The heat conductor 80 is a plate with an L-shaped cross-section, formed from a pair of combined flat plates such that they together form an angle between them, for example, a right angle, as shown in [reference missing]. Fig. Figure 2 shows that although the heat conductor 80 defines a right angle in the illustrated embodiment, the angle can vary depending on the angle between the heat-generating surface 46 of the motor 40 and the inner surface 54 of the motor housing 50. The heat conductor 80 has a first contact surface 82, which is in contact with the heat-generating surface 46 of the motor 40 via an elastically deformable, heat-conducting plate 60 (“sheet”), and a second contact surface 84, which is in contact with the inner surface 54 of the motor housing 50, extending substantially perpendicular to the heat-generating surface 46, also via an elastically deformable, heat-conducting plate 62. The heat-conducting plates 60 and 62 exhibit good thermal conductivity.As an alternative to the heat-conducting plates 60 and 62, a lubricant with good thermal conductivity can be applied between the first contact surface 82 of the heat conductor 80 and the heat-generating surface 46 of the motor 40 and / or between the second contact surface 84 of the heat conductor 80 and the inner surface 54 of the motor housing 50. Alternatively, the heat conductor 80 can also be configured such that its first contact surface 82 and its second contact surface 84 are in direct contact with the heat-generating surface 46 and the inner surface 54, respectively, without an intermediate element such as the heat-conducting plates 60 and 62 and the lubricant placed between them.In this sense, the term "contact" used here should be interpreted to include both cases in which the two parts are in direct contact with each other, and those in which the two parts are in indirect contact with each other via other intermediate elements joined between them that have good thermal conductivity.

[0023] The heat conductor 80 is secured by a fastening 70 in such a way that the heat conductor 80 is in contact with both the heat-generating surface 46 of the motor 40 and the inner surface 54 of the motor housing 50. The fastening 70 can be a thread-like, ribbon-like, or block-like part that is fastened around the motor 40 and the heat conductor 80. When the fastening 70 is used, contact can be maintained between the heat conductor 80 and the motor 40, and between the heat conductor 80 and the motor housing 50.

[0024] A method for attaching the heat conductor 80 is now described. First, the first contact surface 82 of the heat conductor 80 is brought into contact with the heat-generating surface 46 of the motor 40. At this stage, the heat conductor 80 must still be secured by the fastening 70, and thus its position can be freely changed. As soon as the first contact surface 82 and the heat-generating surface 46 come into contact, the first contact surface 82 of the heat conductor 80 is moved along the heat-conducting surface 46 until the second contact surface 84 of the heat conductor 80 comes into contact with the opposite inner surface 54 of the motor housing 50. After the second contact surface 84 and the inner surface 54 are brought into contact, the position of the first contact surface 82 relative to the heat-generating surface 46 can be readjusted.

[0025] In this way, according to the present invention, the second contact surface 84 is brought into contact with the inner surface 54 of the motor housing 50 by sliding the heat conductor 80 onto the heat-generating surface 46 after the first contact surface 82 of the heat conductor 80 comes into contact with the heat-generating surface 46 of the motor 40. For example, if, as in related prior art, a heat conductor is simply provided in a gap between a heat-generating surface of the motor and an inner surface of the motor housing, it is difficult to bring the heat conductor into close contact with the motor and the housing because the size of such gaps could vary from one application to another.In contrast, according to the present invention, it is possible to adjust the position of the heat conductor 80 such that the second contact surface 84 is brought into contact with the motor housing 50 even after the first contact surface 82 of the heat conductor 80 comes into contact with the motor 40. Therefore, it is ensured that the heat conductor 80 is in sufficiently close contact with both the motor 40 and the motor housing 50. Once the heat conductor 80 is in position, it can be secured by means of the fastening 70. In this way, the contact between the heat conductor 80 and the motor 40, and between the heat conductor 80 and the motor housing 50, can be maintained.

[0026] It should be noted that the process can be modified such that first the second contact surface 84 of the heat conductor 80 is brought into contact with the inner surface 54 of the motor housing 50, and then the first contact surface 82 is brought into contact with the heat-generating surface 46 of the motor 40. In this case, the heat conductor 80 is relocated on the inner surface 54 of the motor housing 50. This is also advantageous if an intermediate element, such as the heat-conducting plates 60 and 62, is inserted between the heat conductor 80 and the motor 40 and between the heat conductor 80 and the motor housing 50, since contact between these parts can be easily maintained.

[0027] Other embodiments are described next. Items already described are omitted from the explanation where necessary. Similar components are designated with the same reference numerals.

[0028] Fig. 3 is a partially enlarged view showing a multi-jointed robot according to a second embodiment. Fig. 2 represents. Fig. Figure 4 is an enlarged perspective view showing the multi-jointed robot according to the second embodiment. In the present embodiment, a positionally adjustable mounting device is provided on the motor housing 50 to attach the heat conductor 80 to the motor housing 50 and to set / adjust the position of the heat conductor 80.

[0029] An example is a recording device that can be adjusted in its position in Fig. Figure 3 shows the assembly comprising bolts 72 and elongated holes 66 formed in a wall of the motor housing 50, into which the bolts 72 can be inserted. In the illustrated embodiment, two arrangements of bolts 72 and elongated holes 66 are arranged side by side. The elongated holes are designed such that they have an elongated shape in a direction substantially perpendicular to the heat-generating surface 46 of the motor 40 (top / bottom direction in the Fig. 3 and Fig. 4) Threaded holes are provided on the heat conductor 80, designed to receive the bolts 72. The heat conductor 80 can be secured to the motor housing 50 by screwing the bolts 72 through the elongated holes 66 into the threaded holes of the heat conductor 80.

[0030] In the present embodiment, the position of the heat conductor 80 can be freely adjusted within an area where the elongated holes 66 and the threaded holes of the heat conductor 80 overlap, before the heat conductor 80 is fastened to the motor housing 50 with the bolts 72. Thus, even after the heat conductor 80 comes into contact with the heat-generating surface 46, its position can still be adjusted by loosening the fastening force of the bolts 72, allowing the heat conductor 80 to be repositioned on the heat-generating surface 46 of the motor 40. In this way, according to the present embodiment, it is still possible to adjust the position of the second contact surface 84 relative to the inner surface 54 of the motor housing 50 after the first contact surface 82 of the heat conductor 80 comes into contact with the opposite heat-generating surface 46 of the motor 40.

[0031] Fig. 5 is a partially enlarged view showing a multi-jointed robot according to a third embodiment. Fig. Figure 2 represents the thermal conductor 80. In the present embodiment, the thermal conductor 80 is the same as that from the first and second embodiments. However, the thermal conductor 80 is fixed in such a way that its first contact surface 82 is pressed against the heat-generating surface 46 of the motor 40 by the bolts 74. The bolts 74 pass through threaded holes (not shown) extending through an inner surface 56 of the motor housing 50, which faces the heat-generating surface 46 of the motor 40, and the bolts 74 therefore project into the inner area 52. Accordingly, the position of the first contact surface 82 of the thermal conductor 80 relative to the heat-generating surface 46 of the motor 40 can be adjusted by changing the projection length of the bolts 74 into the inner area 52.

[0032] According to the present embodiment, the heat conductor 80 on the inner surface 54 can be relocated into the inner area 52 by changing the projection length of the bolts 74 after the second contact surface 84 of the heat conductor 80 is brought into contact with the inner surface 54 of the motor housing 50. In this way, contact between the heat conductor 80 and the heat-generating surface 46 and between the heat conductor 80 and the inner surface 54 can be ensured.

[0033] Fig. 6 is a partially enlarged view showing a multi-jointed robot according to a fourth embodiment. Fig. Figure 2. In the present embodiment, the heat conductor 80 comprises a first heat conductor 86 and a second heat conductor 88. The first heat conductor 86 is an L-shaped part in cross-section, comprising a parallel section 86a, which has a first contact surface 82 and extends parallel to the heat-generating surface 46 of the motor 40, and a perpendicular section 86b, which extends substantially at a right angle towards an inner surface 56 of the motor housing 50 from one end of the parallel section 86a, which extends substantially parallel to the heat-generating surface 46. The first heat conductor 86 and the second heat conductor 88 can have the same or different dimensions.

[0034] The parallel section 86a of the first heat conductor 86 is attached to the motor 40 by means of a first fastening 76a, while its first contact surface 82 is in contact with the heat-generating surface 46 of the motor 40. The perpendicular section 86b of the first heat conductor 86 and the perpendicular section 88b of the second heat conductor 88 are in contact with each other and are fastened to each other by means of a second fastening 76b. In this way, according to the present embodiment, the first heat conductor 86 and the second heat conductor 88 can remain in contact with the motor 40 and the motor housing 50 respectively via the first fastening 76a and the second fastening 76b.

[0035] In the present embodiment, the first heat conductor 86 is initially brought into contact with the motor 40. During this process, the first fastening 76a must still be secured, and therefore the position of the first heat conductor 86 can be freely adjusted. The first heat conductor 86 is then attached to the motor 40 by means of the first fastening 76a, while the first contact surface 82 of the first heat conductor 86 is in contact with the heat-generating surface 46 of the motor 40.

[0036] The second heat conductor 88 is then brought into contact with the inner surface 56 of the motor housing 50. During this process, the second heat conductor 88 must still be secured, and therefore its position can be freely adjusted. After the second contact surface 84 is brought into contact with the inner surface 56, the second heat conductor 88 is moved along the inner surface 56 until the vertical section 88b of the second heat conductor 88 comes into contact with the vertical section 86b of the first heat conductor 86.

[0037] When the vertical section 86b of the first heat conductor 86 and the vertical section 88b of the second heat conductor 88 are brought into contact with each other in such a way as to allow sufficient heat conduction between them, the first heat conductor 86 and the second heat conductor 88 are fastened to each other by securing the second fastening 76b to the vertical sections 86b and 88b. In this way, the contact conditions between the first heat conductor 86 and the motor 40, between the second heat conductor 88 and the motor housing 50, and between the first heat conductor 86 and the second heat conductor 88 can each be maintained.

[0038] According to the present embodiment, it is ensured that a heat-conducting path can be established between the heat-generating surface 46 of the motor 40 and the inner surface 56 of the motor housing 50, which extends parallel to the heat-generating surface 46. Although the exemplary setup in which the first heat conductor 86 is attached first and the second heat conductor 88 is then positioned on the inner surface 56 of the motor housing 50 has been described above, another setup can be used in which the first heat conductor 86 and the second heat conductor 88 are coupled to each other by positioning the first heat conductor 86 on the heat-generating surface 46 of the motor 40 after the second heat conductor 88 has been attached to the motor housing 50.

[0039] Fig. 7 is a partially enlarged view showing a multi-jointed robot according to a fifth embodiment. Fig. 2 represents, and Fig. Figure 8 is an enlarged perspective view showing the [image / description] in [image / description]. Fig. Figure 7 represents the heat conductor shown. In the present embodiment, a heat-conducting path, similar to that in the fourth embodiment, is formed by the first heat conductor 86 and the second heat conductor 88. In the present embodiment, bolts 78 are used instead of the second fastening 76b to fasten the first heat conductor 86 and the second heat conductor 88. As in Fig.As shown more clearly in Figure 8, two spaced-apart elongated holes 90 are provided in the vertical section 88b of the second heat conductor 88. The respective elongated holes 90 are designed such that they have an elongated shape in a direction substantially perpendicular to the second contact surface 84. Threaded holes for receiving the bolts 78 are provided in the vertical section 86b of the first heat conductor 86. This allows the first heat conductor 86 and the second heat conductor 88 to be fastened to each other by screwing the bolts 78 into the threaded holes of the first heat conductor 86 through the elongated holes 90 of the second heat conductor 88.

[0040] In the same way as in the fourth embodiment described above, the first heat conductor 86 is secured to the motor 40 by means of the first fastening 76a during contact. When the second heat conductor 88 is positioned, i.e., when it still needs to be secured, its position relative to the inner surface 56 of the motor housing 50 can be adjusted by changing the fixed position of the bolts 78 in the elongated holes 90. While the second contact surface 84 of the second heat conductor 88 is in contact with the inner surface 56, the second heat conductor 88 is fastened to the first heat conductor 86 by means of the bolts 78. In this way, the contact states between the first heat conductor 86 and the motor 40, between the second heat conductor 88 and the motor housing 50, and between the first heat conductor 86 and the second heat conductor 88 can each be maintained.Although the elongated holes 90 are provided in the second heat conductor 88, similar elongated holes may instead be provided in the first heat conductor 86.

[0041] Although various embodiments of the present invention have been described above, it is clear to a person skilled in the art that the present invention can also be implemented as a combination of features of the embodiments disclosed here, either explicitly or implicitly. An arm is shown by way of example as a movable object, but a vibrating table can be used as a movable object. Although the embodiments in which the motor has a flat heat-generating surface have been described for the sake of simplicity, the scope of the present invention also extends to the case in which the heat-generating surface is not flat, but may, for example, be curved. Effect of the invention

[0042] According to the first aspect, the position of the heat conductor can be adjusted by shifting / relocating at least one of the first and second contact surfaces of the heat conductor on the opposite heat-generating or inner surface. Thus, even after one of the first and second contact surfaces is brought into contact with the motor or motor housing, the position of the other contact surface can still be adjusted. Therefore, the heat conductor can still be brought into close contact with both the motor and the motor housing, for example, even if the heat conductor has varying thicknesses, if the motor housing has a rough or inclined inner surface, or if the gap between the motor and the motor housing is not constant.

[0043] According to the second aspect, one of the contact surfaces is brought into contact with the opposite heat-generating surface or the inner surface by repositioning the other contact surface on the opposite heat-generating surface or inner surface. Accordingly, the heat conductor can still be brought into close contact with both the motor and the motor housing even if the heat-generating surface of the motor and the inner surface of the motor housing are inclined relative to each other.

[0044] According to a third aspect, the first and second heat conductors are brought into contact with each other by moving one of them onto the opposite heat-generating or inner surface. Thus, close contact can be achieved between the first heat conductor and the motor, between the second heat conductor and the motor housing, and between the first and second heat conductors, even when the heat-generating surface of the motor and the inner surface of the motor housing are parallel to each other.

[0045] Although the invention has been shown and described with reference to its exemplary embodiments, it should be understood by a person skilled in the art that the foregoing and various further modifications, omissions and additions therein and thereto may be made without departing from the spirit and scope of the invention.

Claims

[1] Multi-jointed robot (10) comprising: a movable body (22, 24, 26, 28); a motor (40) for generating power to drive the moving body (22, 24, 26, 28); a motor housing (50) for receiving the motor (40) in its interior (52), so that it insulates the motor (40) from an external environment; and a cooling arrangement for cooling the motor (40) by dissipating heat generated by the motor (40), wherein the motor (40) has a heat-generating surface (46) on one side of the motor body, wherein the cooling arrangement comprises a heat conductor (80) which is arranged in the interior (52) of the motor housing (50), wherein the heat conductor (80) forms a heat-conducting path from the motor (40) to the motor housing (50), and wherein the heat conductor (80) has a first contact surface (82) which is configured to be in contact with the heat-generating surface (46) of the motor (40), and a second contact surface (84) which is configured to be in contact with an inner surface (54, 56) of the motor housing (50), and wherein the heat-conducting path is formed by moving the first contact surface (82) on the opposite heat-generating surface (46) and / or the second contact surface (84) on the inner surface (54, 56) to set a position of the heat conductor (80), and subsequently fixing the heat conductor (80) by a fastening (70, 72, 74, 76a). [2] Multi-jointed robot (10) according to claim 1, wherein the heat-generating surface (46) of the motor (40) and the inner surface (54) of the motor housing (50) extend at an angle relative to each other, and the first contact surface (82) and the second contact surface (84) extend at an angle relative to each other, and wherein the heat conductor (80) is configured to form the heat-conducting path - by moving the first contact surface (82) on the opposite heat-generating surface (46) until the second contact surface (84) comes into contact with the inner surface (54) or the second contact surface (84) of the heat conductor (80) on the inner surface (54) until the first contact surface (82) comes into contact with the opposite heat-generating surface (46), and - subsequent fixing of the heat conductor (80) by means of the fastening (70, 72, 74). [3] Multi-jointed robot (10) according to claim 1, wherein the heat-generating surface (46) of the motor (40) and the inner surface (56) of the motor housing (50) extend parallel to each other and the first contact surface (82) and the second contact surface (84) of the heat conductor (80) extend parallel to each other, wherein the heat conductor (80) comprises a first heat conductor (86) forming the first contact surface (82), and a second heat conductor (88) separate from the first heat conductor (86), wherein the second heat conductor (88) forms the second contact surface (84), and wherein the heat conductor (80) is configured to form the heat-conducting path by - Moving the first contact surface (82) of the first heat conductor (86) onto the opposite heat-generating surface (46) or the second contact surface (84) of the second heat conductor (88) onto the inner surface (56) until the first heat conductor (86) and the second heat conductor (88) come into contact with each other, and - subsequent fixing of the first heat conductor (86) and the second heat conductor (88) by fastening. [4] Manufacturing process for producing a multi-jointed robot (10), wherein the multi-jointed robot (10) comprises: a movable body (22, 24, 26, 28); a motor (40) for generating power to drive the moving body (22, 24, 26, 28); a motor housing (50) for receiving the motor (40) in its interior (52), so that it insulates the motor (40) from the outside; and a heat conductor (80) which is arranged in the interior of the motor housing (50) and forms a heat-conducting path from the motor (40) to the motor housing (50), the manufacturing process comprising: Moving a first contact surface (82) of the heat conductor (80) on an opposite heat-generating surface (46) on one side of the motor body and / or a second contact surface (84) of the heat conductor (80) on an opposite inner surface (54, 56) of the motor housing (50), such that the first contact surface (82) of the heat conductor (80) comes into contact with the heat-generating surface (46) and the second contact surface (84) of the heat conductor (80) comes into contact with the inner surface (54, 56) of the motor housing (50) in order to adjust a position of the heat conductor (80); and then fixing the heat conductor (80) by means of a fastening (70, 72, 74, 76a) to form a heat-conducting path. [5] Manufacturing method according to claim 4, wherein the heat-generating surface (46) of the motor (40) and the inner surface (54) of the motor housing (50) extend at an inclination relative to each other, and wherein the first contact surface (82) and the second contact surface (84) of the heat conductor (80) extend at an inclination relative to each other, such that an angle is formed between them, wherein the manufacturing method comprises: Moving the first contact surface (82) on the opposite heat-generating surface (46) until the second contact surface (84) comes into contact with the inner surface (54), or the second contact surface (84) of the heat conductor (80) on the inner surface (54) until the first contact surface (82) comes into contact with the opposite heat-generating surface (46); and then fixing the heat conductor (80) by means of the fastening (70, 72, 74) to form the heat-conducting path. [6] Manufacturing process according to claim 4, wherein the heat-generating surface (46) of the motor (40) and the inner surface (56) of the motor housing (50) extend parallel to each other, and wherein the first contact surface (82) and the second contact surface (84) of the heat conductor (80) extend parallel to each other, and wherein the heat conductor (80) comprises a first heat conductor (86) forming the first contact surface (82) and a second heat conductor (88) separate from the first heat conductor (86), wherein the second heat conductor (88) forms the second contact surface (84) and the manufacturing process includes: Moving the first contact surface of the first heat conductor (86) on the opposite heat-generating surface (46) or the second contact surface (84) of the second heat conductor (88) on the inner surface (56) until the first heat conductor (86) and the second heat conductor (88) come into contact with each other; and then fixing the first heat conductor (86) and the second heat conductor (88) by means of the fastening (76a) to form a heat-conducting path.

Images