Device, method for controlling device, method for manufacturing article, method for assembling device, robot, vehicle, program, and recording medium

Abstract

To provide a robot capable of highly accurate motions.SOLUTION: A device includes: a support body including two parts; and a unit. The unit includes: a reduction gear; a motor installed to the reduction gear; and a bearing installed to the reduction gear. The reduction gear, the motor and the bearing are assembled integrally with one another and installed to two parts.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to apparatus technology. [Background technology]

[0002] As shown in Patent Document 1, for example, a joint of a robot is provided with a plurality of mechanical parts such as a motor, a reducer, and bearings. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-196054 A Summary of the Invention [Problem to be solved by the invention]

[0004] Apparatuses are required to operate with high accuracy and high reproducibility, and therefore mechanical parts arranged in the apparatuses are required to be assembled with each other with high accuracy.

[0005] The present disclosure aims to improve the accuracy of operations performed by a device. [Means for solving the problem]

[0006] A first aspect of the present disclosure is an apparatus comprising: a support having two parts; and a unit having a reducer, a motor provided in the reducer, and a bearing provided in the reducer, wherein the reducer, the motor, and the bearing are integrally assembled to each other and attached to the two parts.

[0007] A second aspect of the present disclosure is a method for assembling a device including a support having two parts, comprising: fixing the reducer and the motor to a first member so that the reducer and the motor are positioned; fixing the reducer and the bearing to a second member so that the reducer and the bearing are positioned; and supporting the first member and the bearing on the two parts of the support. Effect of the Invention

[0008] According to the present disclosure, it is possible to improve the accuracy of operations executed by a device. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is an explanatory diagram illustrating a configuration of a robot system according to a first embodiment. [Diagram 2] FIG. 2 is a block diagram showing a control system of the robot system according to the first embodiment. [Diagram 3] FIG. 1 is a cross-sectional view of a joint structure according to a first embodiment. [Figure 4] FIG. 2 is a cross-sectional view of the drive unit according to the first embodiment. [Diagram 5] FIG. 2 is an exploded cross-sectional view of the drive unit according to the first embodiment. [Figure 6] 5(a) and 5(b) are explanatory views of a method for assembling the drive unit of the first embodiment. [Figure 7] 5(a) and 5(b) are explanatory views of a method for assembling the drive unit of the first embodiment. [Figure 8] 5(a) and 5(b) are explanatory views of a method for assembling the drive unit of the first embodiment. [Figure 9] 5(a) and 5(b) are explanatory views of a method for assembling the drive unit of the first embodiment. [Figure 10] 5(a) and 5(b) are explanatory views of a method of assembling the drive unit of the first embodiment. [Figure 11] 5(a) and 5(b) are explanatory views of a method for assembling the drive unit of the first embodiment. [Figure 12]5(a) and 5(b) are explanatory views of a method for assembling the drive unit of the first embodiment. [Figure 13] 5(a) and 5(b) are explanatory views of a method for assembling the drive unit of the first embodiment. [Figure 14] 5(a) and 5(b) are explanatory views of a method for assembling the drive unit of the first embodiment. [Figure 15] 5(a) and 5(b) are explanatory views of a method for assembling the drive unit of the first embodiment. [Figure 16] 5(a) and 5(b) are explanatory views of a method for assembling the drive unit of the first embodiment. [Figure 17] 3A to 3C are explanatory diagrams of a method for assembling a joint of the robot according to the first embodiment. [Figure 18] 1A is a side view of a link according to the first embodiment, and FIG. 1B is a side view of a drive unit according to the first embodiment. [Figure 19] FIG. 1A is a perspective view of a link according to a first embodiment, FIG. 1B is a side view of the link according to the first embodiment, FIG. 1C is a cross-sectional view of the link according to the first embodiment, and FIG. 1D is an explanatory diagram of a manufacturing method of the link according to the first embodiment. [Figure 20] FIG. 11 is an explanatory diagram of a method for assembling a joint according to Modification 1. [Figure 21] FIG. 11 is an explanatory diagram of a joint structure according to Modification 2. [Figure 22] FIG. 11 is an explanatory diagram of a joint structure according to Modification 3. [Figure 23] FIG. 13 is an explanatory diagram of a joint structure according to Modification 4. [Figure 24] FIG. 10(a) is a side view of a link according to Modification 5. FIG. 10(b) is a cross-sectional view of the link according to Modification 5. FIG. 10(c) is an explanatory diagram of a manufacturing method of the link according to Modification 5. [Diagram 25] FIG. 13 is a cross-sectional view of a link according to Modification 7. [Figure 26] FIG. 13 is an explanatory diagram of a joint structure of a comparative example. [Figure 27] FIG. 11 is a cross-sectional view of a drive structure for an automobile according to a second embodiment. [Figure 28]10 is an explanatory diagram of a method for assembling the drive structure of the automobile according to the second embodiment. FIG. [Figure 29] FIG. 11 is a cross-sectional view of a drive structure for an automobile according to a third embodiment. [Diagram 30] 13 is an explanatory diagram of a method for assembling the drive structure of the automobile according to the third embodiment. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the drawings.

[0011] (First embodiment) FIG. 1 is an explanatory diagram showing a configuration of a robot system 1000 according to the first embodiment. FIG. 2 is a block diagram showing a control system of the robot system 1000 according to the first embodiment. The robot system 1000 includes a robot 10, a control device 20, and a teaching pendant 30 which is an example of an operating device. The robot 10 is, for example, an industrial robot, and is a so-called manipulator. The robot 10 and the control device 20 are connected to each other, for example, by a cable, so as to be able to transmit data to each other. The control device 20 and the teaching pendant 30 are connected to each other, for example, by a cable, so as to be able to transmit data to each other.

[0012] The control device 20 is for controlling the operation of the robot 10, and is configured, for example, by a computer. The teaching pendant 30 is an input device that can be operated by a user, and has a function of sending operation commands to the control device 20 when operated by the user, and can operate the robot 10 according to the user's operation. The control device 20 is configured to operate the robot 10 according to operation commands of a robot program or operation commands from the teaching pendant 30.

[0013] The base of the robot 10 is a fixed end and is fixed to a stand (not shown) or the like. The tip of the robot 10 is a free end. The robot 10 has a robot arm 101 and a robot hand 102, which is an example of an end effector attached to the robot arm 101. Note that the robot hand 102 is omitted from FIG. 1.

[0014] The robot arm 101 has six joints J1 to J6. The robot arm 101 is, for example, a vertical multi-joint robot arm. The number of joints is not limited to six and may be, for example, seven. The robot arm 101 has a base 110 which is a fixed link, and a plurality of links 111 to 116 which are movable links. The base 110 and the links 111 to 116 are connected by the joints J1 to J6, so that each of the links 111 to 116 is rotatable at each of the joints J1 to J6.

[0015] A motor is provided at each of the joints J1 to J6 as a drive source. The motor provided at each of the joints J1 to J6 drives each of the joints J1 to J6, i.e., each of the links 111 to 116, allowing the robot 10 to assume various postures. A tool center point (TCP) is defined at the tip of the robot 10, and the robot 10 can be operated in various postures by specifying the position and posture of the TCP. Although each of the joints J1 to J6 is a rotary joint, the present invention is not limited to this, and for example, any of the joints may be a linear joint.

[0016] The robot hand 102 is configured to be capable of holding a workpiece. In a production line for manufacturing goods, the robot 10 can grasp a workpiece with the robot hand 102 to carry it out an assembly operation in which the workpiece is attached to another workpiece, or grasp a tool to process the workpiece. Alternatively, the robot 10 can perform an operation by attaching an actuator other than the robot hand 102 to the link 116 depending on the work content of the manufacturing process.

[0017] For example, workpieces W1 and W2 are placed around the robot 10. An assembled product can be manufactured by having the robot 10 hold the workpiece W1 and assemble the workpiece W1 to the workpiece W2. The assembled product may be an intermediate product or a final product. When the product to be manufactured is a precision product, the robot 10 is required to have highly accurate positioning control with high reproducibility.

[0018] The teaching pendant 30 includes an input unit, which is an input device, and a touch panel display 304, which also functions as a display unit, which is a display device. A user interface (UI) image is displayed on the touch panel display 304. Note that in the teaching pendant 30, the input unit and the display unit may be configured separately.

[0019] 2, the control device 20 is configured as a computer and includes a CPU (Central Processing Unit) 201, which is a processor. The control device 20 also includes a ROM (Read Only Memory) 202, a RAM (Random Access Memory) 203, and a HDD (Hard Disk Drive) 204 as storage devices. The control device 20 also includes a recording disk drive 205 and an I / O (Input / Output) 206, which is an input / output interface. The CPU 201, ROM 202, RAM 203, HDD 204, recording disk drive 205, and I / O 206 are connected to each other via a bus 210 so that data can be transmitted between them.

[0020] The ROM 202 stores a basic program that is read by the CPU 201 when the computer is started. The RAM 203 is a temporary storage device used for the arithmetic processing of the CPU 201. The HDD 204 is a storage device that stores various data such as the results of the arithmetic processing of the CPU 201. In the first embodiment, the HDD 204 stores a program 211 to be executed by the CPU 201. The CPU 201 controls the robot 10 by executing the program 211. The recording disk drive 205 can read various data, programs, etc. recorded on the recording disk 212. The I / O 206 is connected to the robot arm 101, the robot hand 102, and the teaching pendant 30.

[0021] The teaching pendant 30 is configured as a computer and includes a processor, CPU 301. The teaching pendant 30 also includes a ROM 302 and a RAM 303 as storage devices. The teaching pendant 30 also includes a touch panel display 304 and an I / O 306 that is an input / output interface. The CPU 301, ROM 302, RAM 303, touch panel display 304, and I / O 306 are connected to each other via a bus 310 so that data can be transmitted between them.

[0022] The ROM 302 stores a program 311 to be executed by the CPU 301. The CPU 301 executes a control method, which will be described later, by executing the program 311. The RAM 303 is a temporary storage device used for the arithmetic processing of the CPU 301. The I / O 306 is connected to the I / O 206 of the control device 20.

[0023] The robot arm 101 has six drivers 160, the same number as the number of joints J1 to J6, and six drive modules 450, the same number as the number of joints J1 to J6. Each drive module 450 is disposed at each joint J1 to J6. Note that in FIG. 2, one of the six drivers 160 and one of the six drive modules 450 are illustrated.

[0024] Hereinafter, the joint J2 among the multiple joints J1 to J6 will be described, and the other joints J1, J3 to J6 have almost the same configuration as the joint J2, so descriptions thereof will be omitted.

[0025] The drive module 450 includes a motor 151, an encoder 155, and a torque sensor 451. The driver 160 includes a microcomputer (not shown), an A / D conversion circuit (not shown), a motor drive circuit (not shown), etc. The driver 160 is connected to the I / O 206 of the control device 20 via the bus 140.

[0026] The motor 151 is an electric motor and a drive source that drives the joint J2. The motor 151 drives the tip-side link 112 of the two links 111, 112 connected at the joint J2 relative to the base-side link 111 via a transmission mechanism including a reducer, which will be described later.

[0027] The torque sensor 451 is an example of a force sensor that detects a force (torque) acting on the joint J2, i.e., a force (torque) acting on the link 112 relative to the link 111, and outputs a signal indicating a force value (torque value) that is the detection result to the driver 160. The encoder 155 is a rotary encoder that detects the rotation angle of the motor shaft of the motor 151, and outputs a signal indicating an encoder value that is the detection result to the driver 160.

[0028] The driver 160 receives a signal from the torque sensor 451 at a predetermined cycle, converts it into a digital signal indicating a force value (torque value), and outputs it to the control device 20. The driver 160 also receives and counts an encoder signal from the encoder 155, and outputs the counted value to the control device 20. The control device 20 controls the robot 10 based on these detection results.

[0029] In the first embodiment, the non-transitory computer-readable recording medium is the HDD 204, and the program 211 is stored in the HDD 204, but this is not limiting. The program 211 may be recorded in any recording medium as long as it is a non-transitory computer-readable recording medium. For example, a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a magnetic tape, a non-volatile memory, etc. can be used as the recording medium for storing the program 211.

[0030] In the first embodiment, the program 311 is stored in the ROM 302, but the present invention is not limited to this. The program 311 may be recorded in any recording medium. For example, a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a magnetic tape, a non-volatile memory, etc. may be used as a recording medium for storing the program 311.

[0031] In addition, the storage device included in the control device 20 is the HDD 204, but is not limited to this, and the storage device included in the control device 20 may be, for example, an SSD (Solid State Drive). Similarly, the storage device included in the teaching pendant 30 is the ROM 302, but is not limited to this, and the storage device included in the teaching pendant 30 may be an SSD.

[0032] The control device 20 or the teaching pendant 30 may be connected to a network. The robot 10 and the control device 20, or the control device 20 and the teaching pendant 30 may be connected via a network.

[0033] The joint structure of the joint J2 will be described in detail below. Fig. 3 is a cross-sectional view of the joint structure 400 according to the first embodiment. The joint structure 400 of the first embodiment includes a link 111, a link 112, and a drive module 450. The link 111 is an example of a support body. The link 111 is an example of a first link, and the link 112 is an example of a second link.

[0034] The drive module 450 includes a drive unit 150, which is an example of a unit, and a torque sensor 451, which is an example of a force sensor. The drive unit 150 is supported by a link 111. The link 112 is supported by the drive unit 150 so as to be rotationally driven by the drive unit 150 around an axis C0 relative to the link 111.

[0035] The drive unit 150 includes a motor 151, a reducer 152, and a bearing 153. The motor 151 is provided on the input side of the reducer 152, and the bearing 153 is provided on the output side of the reducer 152. The motor 151 is a drive source for the joint J2, and drives the link 112 via the reducer 152. The bearing 153 is disposed between the link 111 and the drive unit 150. The reducer 152 is preferably, for example, a wave gear reducer. The bearing 153 is, for example, a cross roller bearing, and includes a plurality of rollers 1530, an outer ring 1531, and an inner ring 1532. Note that the bearing 153 is not limited to this configuration. For example, the bearing 153 may be a sliding bearing such as a deep groove ball bearing, a needle roller bearing, a rolling bearing, a radial ball bearing, a radial roller bearing, or an oil-free bearing.

[0036] In the first embodiment, an inner ring 1532 of the bearing 153 is disposed on the side of the link 111, and an outer ring 1531 of the bearing 153 is disposed on the side of the drive unit 150. If the axes of the motor 151, the reducer 152, and the bearing 153 are misaligned, frictional resistance will occur. Therefore, in order to allow the robot 10 to perform precision work, it is required that the motor 151, the reducer 152, and the bearing 153 be positioned with high accuracy relative to each other, that is, that their axes be aligned with each other.

[0037] FIG. 26 is an explanatory diagram of a joint structure of a comparative example. The link 112X is rotationally driven relative to the link 111X via the reducer 152X by the motor 151X. The link 111X has two members (parts) 1111X and 1112X, and the member 1112X is fastened to the member 1111X by a fastening member 181X to form a U-shaped portion. The motor 151X and the reducer 152X are positioned and fixed to the member 1111X, and the bearing 153X is positioned and fixed to the member 1112X. When adjusting the axial positions of the motor 151X, the reducer 152X, and the bearing 153X, the member 1112X is moved in a direction perpendicular to the axis relative to the member 1111X. After adjusting the axial position, the fastening member 181X is fastened in a direction parallel to the axis to fix the member 1112X to the member 1111X. In this way, by sliding the member 1112X relative to the member 1111X, the axes of the motor 151X, the reducer 152X, and the bearing 153X can be adjusted to align. However, it is necessary to provide an adjustment margin in the adjustment direction for the member 1111X, and the link 111X is required to have high rigidity. For this reason, it is necessary to thicken the fastening portion of the link 111X to the member 1111X in the adjustment direction. As a result, in the joint structure of the comparative example, the link 111X, i.e., the robot, becomes larger and heavier.

[0038] The link 111 of the first embodiment has a U-shaped portion 1110. The drive module 450 is disposed in the U-shaped portion 1110. That is, the drive unit 150 and the torque sensor 451 are disposed in the U-shaped portion 1110. The torque sensor 451 is disposed between the drive unit 150 and the link 112 so as to detect the torque acting on the link 112 relative to the link 111.

[0039] The motor 151, the reducer 152, and the bearing 153 are integrally assembled with each other via a plurality of members to form a unit. As a result, the motor 151, the reducer 152, and the bearing 153 are unitized (i.e., integrated) with their axes aligned with each other. The motor 151, the reducer 152, and the bearing 153 may be unitized before the motor 151, the reducer 152, and the bearing 153 are attached to the link 111, or may be in the middle of being attached to the link 111, that is, in the middle of fixing the drive unit 150 to the link 111.

[0040] In the first embodiment, the drive unit 150 is attached to the U-shaped portion 1110 of the link 111 so as to be detachable as a unit from the U-shaped portion 1110 of the link 111. In other words, the drive unit 150 is unitized, i.e., integrated, and attached to the link 111 so as to be detachable from the link 111 together with the drive unit 150 in the integrated state.

[0041] In this manner, in the first embodiment, the axes of the motor 151, the reducer 152, and the bearing 153 can be aligned when the drive unit 150 is assembled, and it is not necessary to align the axes of the link 111X as in the comparative example. Therefore, the link 111 can be made smaller and lighter without the need to increase the size and weight as in the link 111X of the comparative example, and the motor 151, the reducer 152, and the bearing 153 can be aligned with high accuracy. This allows the robot 10 to perform highly accurate positioning control with high reproducibility. In the first embodiment, the link 111 is integrally molded. Therefore, the link 111 can be made smaller and lighter while ensuring the rigidity required for the link 111. Then, the drive unit 150 having the aligned motor 151, the reducer 152, and the bearing 153 may be attached to the link 111. By aligning the axes of the motor 151, the reducer 152, and the bearing 153, the performance and durability of the motor 151, the reducer 152, and the bearing 153 can be improved. In addition, it is possible to reduce frictional resistance caused by axial misalignment of the motor 151, the reducer 152, and the bearing 153, and to control the positioning of the robot 10 with high accuracy. In other words, it is possible to cause the robot 10 to perform highly accurate operations with high reproducibility.

[0042] Fig. 4 is a cross-sectional view of the drive unit 150 according to the first embodiment. Fig. 5 is an exploded cross-sectional view of the drive unit 150 according to the first embodiment.

[0043] The drive unit 150 of the first embodiment further includes a positioning member 161 which is an example of a first member, and a positioning member 162 which is an example of a second member. The positioning member 161 is disposed on the input side of the reducer 152, and the positioning member 162 is disposed on the output side of the reducer 152. The positioning member 161 has a flange portion 1613 which is directly or indirectly connected to the link 111. The link 112 is indirectly connected to the positioning member 162 via a torque sensor 451. That is, the torque sensor 451 is disposed between the positioning member 162 and the link 112.

[0044] The positioning member 161 aligns the axes of the motor 151 and the reducer 152, and the positioning member 162 aligns the axes of the reducer 152 and the bearing 153. That is, the positioning members 161 and 162 align the axes of the motor 151, the reducer 152, and the bearing 153 to the axis C0. Therefore, the axis C0 is also the axis of the reducer 152, i.e., the axis of the drive unit 150. The axis C0 becomes the rotation axis of the joint J2 when the drive unit 150 is attached to the joint J2.

[0045] In the first embodiment, the drive unit 150 further includes a brake 154, an encoder 155, and oil seals 156 and 157. In the first embodiment, the multiple members 151 to 157 are members whose axes need to be aligned with each other. These members 151 to 157 are assembled together, so that their axes are aligned with each other. By aligning the axes of these members 151 to 157, the performance and durability of each of the members 151 to 157 can be improved. In addition, frictional resistance caused by axial misalignment of the members 151 to 157 can be reduced, and the positioning of the robot 10 can be controlled with high accuracy. That is, the robot 10 can be made to perform highly accurate operations with high reproducibility. The drive unit 150 may include members whose axes need to be aligned with each other, in addition to the members 151 to 157.

[0046] A detailed description will now be given of a method for assembling the drive unit 150. Figures 6(a) to 16(b) are explanatory diagrams of a method for assembling the drive unit 150 according to the first embodiment.

[0047] First, as shown in Fig. 6(a) and Fig. 6(b), the stator 1513 is fitted to the reference surface 1611 of the positioning member 161 to attach the stator 1513 to the positioning member 161. The reference surface 1611 is a surface based on the axis C0. The reference surface 1611 has a cylindrical shape and can be easily formed by a general-purpose processing machine (not shown). Fig. 6(a) shows a state before the stator 1513 is attached to the positioning member 161, and Fig. 6(b) shows a state after the stator 1513 is attached to the positioning member 161.

[0048] 7(a) and 7(b), the motor shaft 1511 is attached to the rotor 1512. Fig. 7(a) shows the state before the motor shaft 1511 is attached to the rotor 1512, and Fig. 7(b) shows the state after the motor shaft 1511 is attached to the rotor 1512.

[0049] As shown in FIG. 8(a) and FIG. 8(b), the encoder stay 1514 has a reference surface 1517 on which the motor bearing 1515 is positioned. The reference surface 1517 is a cylindrical surface and can be easily formed by a general-purpose processing machine (not shown). The motor bearing 1515 is fitted to the reference surface 1517 of the encoder stay 1514. Then, the encoder stay 1514 and the motor bearing 1515 are attached to the motor shaft 1511, and the motor shaft 1511 is inserted into the positioning member 161 so that the rotor 1512 is disposed inside the stator 1513. FIG. 8(a) shows a state before the positioning member 161 and the motor members 1511 to 1515 are assembled, and FIG. 8(b) shows a state after the positioning member 161 and the motor members 1511 to 1515 are assembled.

[0050] Next, as shown in FIG. 9(a) and FIG. 9(b), the motor bearing 1516 is attached to the reference surface 1612 of the positioning member 161. The reference surface 1612 is a surface based on the axis C0. The reference surface 1612 is a cylindrical surface and can be easily formed by a general-purpose processing machine (not shown). In this way, the motor bearing 1516 is positioned in the positioning member 161. By inserting the motor shaft 1511 into the motor bearing 1516, the motor shaft 1511 is positioned in the positioning member 161 via the motor bearing 1516, and thus the encoder stay 1514 is positioned in the positioning member 161 via the motor shaft 1511 and the motor bearing 1515. That is, the members 1511 to 1516 of the motor 151 are positioned in the positioning member 161 so that the axes of the members 1511 to 1516 of the motor 151 are aligned with the axis C0.

[0051] In this first embodiment, the motor 151 is configured by the members 1511 to 1516. Fig. 9(a) illustrates the state before the positioning member 161 and the motor members 1511 to 1516 are assembled, and Fig. 9(b) illustrates the state after the positioning member 161 and the motor members 1511 to 1516 are assembled. The positioning member 161 is formed in a cup shape, the rotor 1512 and the stator 1513 are disposed inside the positioning member 161, and the motor shaft 1511 is disposed across the inside and outside of the positioning member 161. In this way, the positioning member 161 also functions as a housing that accommodates the rotor 1512 and the stator 1513 of the motor 151.

[0052] Next, as shown in Figures 10(a) and 10(b), the encoder 155 is attached to the encoder stay 1514 and the motor shaft 1511. By attaching the encoder 155 to the motor shaft 1511, the encoder 155 is positioned in the positioning member 161 via the motor shaft 1511. That is, the encoder 155 is positioned in the positioning member 161 so that the axis of the encoder 155 coincides with the axis C0. Figure 10(a) shows a state before the encoder 155 is attached to the encoder stay 1514, and Figure 10(b) shows a state after the encoder 155 is attached to the encoder stay 1514.

[0053] Next, as shown in FIG. 11(a) and FIG. 11(b), the oil seal 156 is attached to the positioning member 161. As a result, the oil seal 156 is supported by the positioning member 161. The oil seal 156 is an example of a first oil seal. The oil seal 156 is provided so that the lip of the oil seal 156 contacts the motor shaft 1511. As a result, the oil seal 156 is positioned to the positioning member 161 via the motor bearing 1516 and the motor shaft 1511. The oil seal 156 located on the input side of the reducer 152 can reduce leakage of oil from the reducer 152, which will be described later, from the input side of the reducer 152 to the rotor 1512 and the stator 1513 side via the motor shaft 1511. Note that a fitting portion may be provided on the positioning member 161, and the oil seal 156 may be directly positioned on the positioning member 161 by fitting into the fitting portion. FIG. 11(a) shows the state before the oil seal 156 is attached to the positioning member 161, and FIG. 11(b) shows the state after the oil seal 156 has been attached to the positioning member 161.

[0054] As described above, the members 151 , 155 and 156 on the input side of the reduction gear 152 are supported by the positioning member 161 in a state where they are positioned by the positioning member 161 .

[0055] Next, as shown in Fig. 12(a) and Fig. 12(b), the reducer 152 is attached to the positioning member 161. The reducer 152 has an input portion 1521, an output portion 1522, and a fixed portion 1520. The input portion 1521 and the output portion 1522 rotate relative to the fixed portion 1520. The output portion 1522 rotates at a reduced speed at a predetermined reduction ratio relative to the input portion 1521. Fig. 12(a) illustrates a state before the reducer 152 is attached to the positioning member 161, and Fig. 12(b) illustrates a state after the reducer 152 is attached to the positioning member 161.

[0056] In the first embodiment, a fixing portion 1520 of the reducer 152 is fixed to a positioning member 161 by a fastening member 171. An input portion 1521 of the reducer 152 is fitted to the motor shaft 1511, so that the reducer 152 is positioned in the positioning member 161 via the motor shaft 1511. That is, the shaft of the reducer 152 is positioned in the positioning member 161 so as to align with the axis C0.

[0057] As described above, the motor 151 and the reducer 152 are fixed to the positioning member 161 in a state where the motor 151 and the reducer 152 are positioned by the positioning member 161 so that their respective shafts are aligned with the axis C0.

[0058] Next, as shown in Figures 13(a) and 13(b), the oil seal 157 is attached to a reference surface 1621 of the positioning member 162. The reference surface 1621 has a cylindrical shape and can be easily formed by a general-purpose processing machine (not shown). In this way, the oil seal 157 is supported by the positioning member 162. The oil seal 157 is an example of a second oil seal. Figure 13(a) shows a state before the oil seal 157 is attached to the positioning member 162, and Figure 13(b) shows a state after the oil seal 157 is attached to the positioning member 162.

[0059] Next, as shown in Figures 14(a) and 14(b), a positioning member 162 is attached to the reducer 152. Figure 14(a) illustrates a state before the positioning member 162 is attached to the reducer 152, and Figure 14(b) illustrates a state after the positioning member 162 is attached to the reducer 152.

[0060] In the first embodiment, the positioning member 162 is fixed to the output portion 1522 of the reducer 152 with a fastening member 172. The positioning member 162 has a reference surface 1622, and the positioning member 162 and the reducer 152 are positioned by fitting the reference surface 1622 into the output portion 1522 of the reducer 152. In other words, the positioning member 162 is fixed to the output portion 1522 of the reducer 152 so that the axis of the positioning member 162 coincides with the axis C0. The reference surface 1622 is a cylindrical surface, and can be easily formed by a general-purpose processing machine (not shown).

[0061] The oil seal 157 is provided so that a lip of the oil seal 157 contacts the motor shaft 1511. The oil seal 157 is positioned by a positioning member 161 via the motor shaft 1511. The oil seal 157 located on the output side of the reducer 152 can reduce leakage of oil from the reducer 152 from the output side of the reducer 152 through the motor shaft 1511 to the side of the brake 154 described below.

[0062] As described above, since the axes of the oil seals 156, 157 are aligned with the axis C0, the oil seal 156 provided on the input side of the reducer 152 and the oil seal 157 provided on the output side of the reducer 152 can effectively reduce leakage of oil (grease) from the reducer 152 to the outside. In addition, since the tension forces of the lips of the oil seals 156, 157 are uniform, it is possible to reduce fluctuations in friction between the oil seals 156, 157 and the motor shaft 1511. In addition, since leakage of oil (grease) by the oil seals 156, 157 can be reduced and fluctuations in friction between the oil seals 156, 157 and the motor shaft 1511 can be reduced, it is possible to prevent a decrease in the detection accuracy of the encoder 155 and the torque sensor 145.

[0063] Next, as shown in Figures 15(a) and 15(b), the brake 154 is attached to the motor shaft 1511 and the positioning member 162. As a result, the brake 154 is positioned on the positioning member 162. Figure 15(a) shows the state before the brake 154 is attached to the motor shaft 1511, and Figure 15(b) shows the state after the brake 154 has been attached to the motor shaft 1511.

[0064] Next, as shown in Figures 16(a) and 16(b), the bearing 153 is attached to the positioning member 162. Figure 16(a) shows the state before the bearing 153 is attached to the positioning member 162, and Figure 16(b) shows the state after the bearing 153 is attached to the positioning member 162.

[0065] The positioning member 162 has a reference surface 1623. The reference surface 1623 is a surface based on the axis C0. The reference surface 1623 is a cylindrical surface, and can be easily formed by a general-purpose processing machine (not shown). The bearing 153 is positioned in the positioning member 162 by being fitted into the reference surface 1623 of the positioning member 162. In other words, the bearing 153 is positioned in the positioning member 162 so that the axis of the bearing 153 is aligned with the axis C0.

[0066] In the first embodiment, the outer ring 1531 of the bearing 153 is attached to the reference surface 1623 of the positioning member 162. That is, the outer ring 1531 of the bearing 153 is supported by the positioning member 162.

[0067] As described above, the bearing 153, the brake 154, and the oil seal 157 provided on the output side of the reducer 152 are supported by the positioning member 162 while being positioned by the positioning member 162. That is, the reducer 152, the bearing 153, the brake 154, and the oil seal 157 are fixed to the positioning member 162 while being positioned by the positioning member 162 so that their respective axes are aligned with the axis C0.

[0068] The positioning member 162 is fixed to the output section 1522 of the reducer 152 by a plurality of fastening members 172 arranged in the circumferential direction about the axis C0. It is preferable that the outer diameter D2 of the bearing 153 is larger than the diameter D1 of an imaginary circle passing through the centers of the plurality of fastening members 172. This makes it easier to assemble the positioning member 162 and the reducer 152.

[0069] 16(b) shows the drive unit 150 assembled as described above. The axes of the members 151 to 157 included in the drive unit 150 are aligned with the axis C0 by the positioning members 161 and 162, so that there is no need to perform an axis alignment operation when assembling the drive unit 150 to the link 111.

[0070] Next, we will explain the method of assembling the joint J2 of the robot 10. Figure 17 is an explanatory diagram of the method of assembling the joint J2 of the robot 10 according to the first embodiment.

[0071] The U-shaped portion 1110 has a base portion 1113 and a pair of support portions 1111, 1112 arranged on the base portion 1113 with a gap in the X direction. The support portions 1111, 1112 are two parts that become part of the U-shaped portion 1110. The X direction is an example of a predetermined direction, and is a direction along the axis C0. One direction of the X direction is the +X direction, and the opposite direction to the +X direction is the -X direction. The +X direction is the direction from the support portion 1112 to the support portion 1111. The -X direction is the direction from the support portion 1111 to the support portion 1112. The support portion 1111 has an annular portion 1115 on which the drive unit 150 is arranged. The support portion 1112 has an annular portion 1116 on which the drive unit 150 is arranged.

[0072] Fig. 18(a) is a side view of the link 111 according to the first embodiment, when the link 111 is viewed in the -X direction. Fig. 18(b) is a side view of the drive unit 150 according to the first embodiment, when the drive unit 150 is viewed in the +X direction. The annular portion 1115 shown in Fig. 18(a) has an opening through which the drive unit 150 shown in Fig. 18(b) can pass.

[0073] 17, the drive unit 150 is moved in the -X direction to pass through an opening of the annular portion 1115 of the support portion 1111, and the drive unit 150 is disposed between the pair of support portions 1111, 1112. Then, the flange portion 1613 of the positioning member 161 is fixed to the annular portion 1115 of the support portion 1111 with a fastening member 181. Also, a connecting member 183 is fitted into the inner ring 1532 of the bearing 153 of the drive unit 150, and the connecting member 183 is fixed to the annular portion 1116 of the support portion 1112 with a fastening member 182. At this time, the fitting between the connecting member 183 and the inner ring 1532 of the bearing 153 is preferably an intermediate fit or an interference fit.

[0074] The connecting member 183 has a connection surface connected to the link 111, and a reference surface connected to the inner ring 1532 of the bearing 153. The reference surface is a cylindrical surface, and the connecting surface is an annular surface. The connecting member 183 can be formed by a general-purpose processing machine.

[0075] Then, the link 112 is fixed to the positioning member 162 via the torque sensor 451, thereby completing the assembly of the joint J2.

[0076] In this manner, by fixing the flange portion 1613 of the positioning member 161 to the link 111, the positioning member 161 is supported by the support portion 1111 of the link 111, and by fixing the inner ring 1532 of the bearing 153 to the link 111 via the connecting member 183, the inner ring 1532 of the bearing 153 is supported by the support portion 1112 of the link 111. In this manner, the drive unit 150 is supported by the pair of support portions 1111, 1112 as shown in FIG.

[0077] As described above, the reference surfaces of the positioning member 161, the positioning member 162, the encoder stay 1514, and the connecting member 183 can be formed by a general-purpose machine (not shown). The general-purpose machine includes two types of machines: a milling machine and a lathe machine.

[0078] Milling machines process surfaces flat by rotating and translating an end mill, enabling highly accurate flat processing. Milling machines also stably hold the workpiece, allowing them to process multiple stepped surfaces with high-precision parallelism.

[0079] Since lathes cut the workpiece while rotating it, they can perform machining with high dimensional accuracy using the rotation axis as the datum axis. Therefore, lathes can machine multiple surfaces perpendicular to the rotation axis with high parallelism and can machine multiple cylindrical surfaces on the rotation axis with high coaxiality. Furthermore, they can machine the perpendicularity between the multiple surfaces perpendicular to the rotation axis and the multiple cylindrical surfaces on the rotation axis with high dimensional accuracy.

[0080] As described above, the reference surfaces included in each of the positioning members 161, 162, and the connecting member 183 can be machined with high accuracy by a general-purpose machine. Therefore, the oil seal 156, the motor 151, and the encoder 155 can be assembled with high assembly accuracy to the fixed part 1520 of the reducer 152 via the positioning member 161. In addition, the oil seal 157, the brake 154, and the bearing 153 can be assembled with high assembly accuracy to the output part 1522 of the reducer 152 via the positioning member 162. Furthermore, the connecting member 183 can be assembled following the bearing 153.

[0081] That is, it is possible to assemble the motor 151, the encoder 155, the brake 154, the bearing 153, and the oil seals 156 and 157 with each other with high assembly precision so that their respective axes are aligned with the axis C0 that is the rotation axis of the reducer 152. Therefore, the drive unit 150 can be assembled with high precision, and the drive unit 150 can function as a rotary joint with precision guaranteed.

[0082] On the other hand, the pair of support parts 1111, 1112 of the link 111 do not need to have a highly accurate positional relationship with each other, as in the link 111X of the comparative example. In other words, the parallelism of the pair of support parts 1111, 1112, and the coaxiality and size tolerance (fitting tolerance) of the annular parts 1115, 1116 on which the drive unit 150 is arranged do not need to be as highly accurate as those of the drive unit 150.

[0083] Since the accuracy of the joint J2 is compensated for by the drive unit 150, by installing the drive unit 150 on the U-shaped portion 1110 of the link 111, it can function as the joint J2 of the robot 10. The relative position error between the two supports 1111, 1112 is absorbed by the allowable tilt, internal clearance, or fitting clearance of the bearing 153 itself.

[0084] Next, a manufacturing method of the link 111 according to the first embodiment will be described. Fig. 19(a) is a perspective view of the link 111 according to the first embodiment. As described above, the link 111 has a U-shaped portion 1110. The U-shaped portion 1110 has a base portion 1113 and two support portions 1111, 1112.

[0085] Here, the X-direction, Y-direction, and Z-direction, which are orthogonal to each other, are defined. The X-direction is a direction along the axis C0 as described above, and the pair of support parts 1111, 1112 are arranged spaced apart in the X-direction. The X-direction is also a thickness direction of the support parts 1111, 1112. The Z-direction is a longitudinal direction of the support parts 1111, 1112, and the Y-direction is a lateral direction of the support parts 1111, 1112. The Z-direction is also a height direction of each support part 1111, 1112. The Y-direction is also a direction parallel to the base part 1113, and is also a width direction of each support part 1111, 1112. One end of the support part 1111 in the Z-direction is a fixed end connected to the base part 1113, and the other end of the support part 1111 in the Z-direction is an open end. One end of the support portion 1112 in the Z direction is a fixed end connected to the base portion 1113, and the other end of the support portion 1112 in the Z direction is an open end. The opening direction of the U-shaped portion 1110 is the +Z direction.

[0086] Of the Z directions, the direction from the open ends of the supports 1111, 1112 toward the base 1113 is defined as the -Z direction, and the direction opposite to the -Z direction from the base 1113 toward the open ends of the supports 1111, 1112 is defined as the +Z direction. Of the Y directions, one direction is defined as the +Y direction, and the direction opposite to the +Y direction is defined as the -Y direction. As described above, of the X directions, one direction is defined as the +X direction, and the direction opposite to the +X direction is defined as the -X direction. Figure 19(b) is a side view of the link 111 according to the first embodiment when viewed in the -X direction.

[0087] In the first embodiment, the link 111 is manufactured by integral molding using a mold. The material of the link 111 may be resin or metal. Fig. 19(c) is a cross-sectional view of the link 111 according to the first embodiment. Fig. 19(c) is a cross-sectional view of the link 111 taken along line XIXC-XIXC in Fig. 19(b). Fig. 19(d) is an explanatory diagram of a manufacturing method of the link 111 according to the first embodiment. Fig. 19(d) is a front view of the link 111 when the link 111 is viewed in the +Y direction.

[0088] A mold (not shown) is clamped and molten material is injected into the cavity within the mold. After the mold is cooled, the mold is opened and link 111 is removed from the mold.

[0089] Each of the support parts 1111, 1112 has a draft angle so that a part M1 of the mold located between the support parts 1111, 1112 can be removed in the +Z direction during the mold opening process. The support part 1111 has a tapered surface S1 that forms the draft angle, and the support part 1112 has a tapered surface S2 that forms the draft angle. The tapered surfaces S1, S2 face each other in the X direction. The tapered surfaces S1, S2 are inclined so as to move away from each other in the X direction toward the +Z direction. That is, the tapered surfaces S1, S2 are inclined so as to open as they move away from the base part 1113. The opening angle θ1 of the tapered surfaces S1, S2 is set to a predetermined angle so that the part M1 of the mold can be removed from between the support parts 1111, 1112.

[0090] As described above, according to the first embodiment, the support portions 1111, 1112 of the link 111 do not need to have a highly accurate positional relationship with each other. That is, the support portions 1111, 1112 do not need to be provided with highly accurate positioning references.

[0091] Furthermore, the force received by the support portions 1111, 1112 from the drive unit 150 is transmitted to the base portion 1113 via the support portions 1111, 1112. By integrally molding the support portions 1111, 1112 with the base portion 1113, it is possible to form a transmission path that guides the force straight from the support portions 1111, 1112 in the -Z direction. Therefore, it is not necessary to make the U-shaped portion 1110 as rigid as in the comparative example, and the U-shaped portion 1110 can be made thinner than in the comparative example.

[0092] Furthermore, when thinning the U-shaped portion 1110, the supports 1111, 1112 can be thinned in the thickness direction of the supports 1111, 1112 and in the axial direction of the drive unit 150. Furthermore, the supports 1111, 1112 or the base portion 1113 can be provided with recesses.

[0093] As described above, while ensuring the formability of the link 111, the assembly accuracy and ease of assembly of the joint J2, and the rigidity of the link 111, the link 111 can be made smaller and lighter, thereby making it possible to reduce the size and weight of the robot 10 and reducing the costs associated with manufacturing the robot 10.

[0094] And, since the robot 10 incorporates the drive unit 150 with its axis aligned, the robot 10 can perform highly accurate assembly work, improving the accuracy of the operations performed by the robot 10. Also, the durability of the robot 10 is improved, making it possible to reduce the cost required for maintenance.

[0095] Furthermore, according to the first embodiment, the robot 10 can be made to perform work that requires high-precision positioning reproducibility and high-speed operation, such as assembly work for a minute load of a few grams. Therefore, the robot 10 can be made to perform high-mix low-volume production, and the start-up period of the production line can be shortened, thereby reducing the start-up cost of the production line.

[0096] [Variation 1] The drive unit 150 may be unitized during the process of being assembled to the joint J2. Fig. 20 is an explanatory diagram of a method of assembling the joint J2 according to the first modification.

[0097] As shown in FIG. 20, a positioning member 161, a motor 151, a reducer 152, an encoder 155, and an oil seal 156 are unitized to form a first unit part, and a positioning member 162, a bearing 153, a brake 154, and an oil seal 157 are unitized to form a second unit part.

[0098] Then, the first unit part is moved in the -X direction to pass through the opening of the annular part 1115 of the support part 1111, and the first unit part is disposed between the pair of support parts 1111, 1112. Then, the flange part 1613 of the positioning member 161 is fixed to the annular part 1115 of the support part 1111 with the fastening member 181. Also, the second unit part is moved in the +X direction to pass through the opening of the annular part 1116 of the support part 1112, and the second unit part is disposed between the pair of support parts 1111, 1112. The second unit part is fixed to the output part 1522 of the reducer 152 of the first unit part with the fastening member 172. This completes the assembly of the drive unit 150.

[0099] Furthermore, the connecting member 183 is fitted into the inner ring 1532 of the bearing 153 of the drive unit 150, and the connecting member 183 is fixed to the annular portion 1116 of the support portion 1112 with the fastening member 182. In this way, the drive unit 150 is assembled to the link 111.

[0100] [Variation 2] In the above first embodiment, the case where the motor 151 is assembled has been described as an example, but the present invention is not limited to this. Fig. 21 is an explanatory diagram of a joint structure 400A of the joint J2 according to the second modification.

[0101] The joint structure 400A of the second modification has a drive unit 150A and a torque sensor 451. The drive unit 150A has a motor 151A and a positioning member 161A instead of the motor 151 and the positioning member 161. The configuration of the drive unit 150A other than the motor 151A and the positioning member 161A is similar to the configuration of the drive unit 150 other than the motor 151 and the positioning member 161, and therefore description thereof will be omitted.

[0102] The motor 151A is a component in which a rotor, a stator, etc. are integrated, and a general-purpose motor can be applied. The positioning member 161A is an example of a first member, and the motor 151A is attached to the positioning member 161A. In this manner, the motor 151A may be an integrated component.

[0103] [Variation 3] In the above first embodiment, as shown in Fig. 3, the torque sensor 451 is disposed between the positioning member 162 and the link 112, but the present invention is not limited to this. Fig. 22 is an explanatory diagram of a joint structure 400B of the joint J2 according to the third modification.

[0104] The joint structure 400B of the third modification has a drive unit 150 and a torque sensor 451. The torque sensor 451 is disposed between the positioning member 161 of the drive unit 150 and the link 111. In this manner, the torque sensor 451 may be disposed between the drive unit 150 and the link 111. Also, the link 112 may be directly connected to the positioning member 162 by the fastening member 184.

[0105] [Variation 4] In the above first embodiment, as shown in Fig. 3, a case has been described in which the torque sensor 451 is disposed between the positioning member 162 and the link 112, but the present invention is not limited to this. Fig. 23 is an explanatory diagram of a joint structure 400C of a joint J2 according to Modification 4. The joint structure 400C of Modification 4 has a drive unit 150. That is, in the joint structure 400C, the torque sensor 451 may be omitted. Also, the link 112 may be directly connected to the positioning member 162 by a fastening member 184.

[0106] [Variation 5] Next, a method for manufacturing the support body according to Modification 5 of the first embodiment will be described. In Modification 5, the link 111, which is the support body, is manufactured by integral molding using a mold. Fig. 24(a) is a side view of the link 111 according to Modification 5, when the link 111 is viewed in the -X direction. Fig. 24(b) is a cross-sectional view of the link 111 according to Modification 5. Fig. 24(b) is a cross-sectional view of the link 111 along the line XXIVB-XXIVB in Fig. 24(a). Fig. 24(c) is an explanatory diagram of a method for manufacturing the link 111 according to Modification 5. Fig. 24(c) is a front view of the link 111, when the link 111 is viewed in the +Y direction.

[0107] A mold (not shown) is clamped and molten material is injected into the cavity within the mold. After the mold is cooled, the mold is opened and link 111 is removed from the mold.

[0108] Each of the support parts 1111, 1112 has a draft gradient so that a part M11 of the mold located between the support parts 1111, 1112 comes out in the +Y direction and a part M12 of the mold comes out in the -Y direction during the mold opening process. The support part 1111 has tapered surfaces S11, S12 which form the draft gradient, and the support part 1112 has tapered surfaces S21, S22 which form the draft gradient. The tapered surfaces S11, S21 face each other in the X direction. The tapered surfaces S12, S22 face each other in the X direction.

[0109] The tapered surfaces S11 and S21 are inclined so as to move away from each other in the X direction toward the +Y direction. The tapered surfaces S12 and S22 are inclined so as to move away from each other in the X direction toward the -Y direction. That is, the tapered surface S11 is inclined so as to open as it moves away from the center C10 in the Y direction of the support portion 1111 in the +Y direction, and the tapered surface S21 is inclined so as to open as it moves away from the center C20 in the Y direction of the support portion 1112 in the +Y direction. The tapered surface S12 is inclined so as to open as it moves away from the center C10 in the Y direction of the support portion 1111 in the -Y direction, and the tapered surface S22 is inclined so as to open as it moves away from the center C20 in the Y direction of the support portion 1112 in the -Y direction. The opening angle θ11 of the tapered surfaces S11, S21 is set to a predetermined angle so that a part M11 of the mold can escape in the +Y direction from between the supports 1111, 1112. The opening angle θ12 of the tapered surfaces S12, S22 is set to a predetermined angle so that a part M12 of the mold can escape in the -Y direction from between the supports 1111, 1112.

[0110] [Variation 6] Next, a manufacturing method of the link 111 according to the sixth modified example of the first embodiment will be described. Although not shown, by using a molding method in which a mold is disassembled, such as plaster casting, sand casting, or lost wax casting, the link 111 can be molded without providing a draft. With such molding methods, it is also possible to form an undercut in the link 111. For example, the width of the bottom side of the inside of the U-shaped portion 1110 can be made equal to or greater than the width of the opening side of the inside of the U-shaped portion 1110.

[0111] [Variation 7] In the above first embodiment, the link 111 serving as the support body is formed by integral molding, but the present invention is not limited to this. As long as the force transmission path from the support parts 1111 and 1112 to the base part 1113 is straight as described in the above first embodiment, the support parts 1111 and 1112 and the base part 1113 may be formed of separate members.

[0112] 25 is a cross-sectional view of a link 111E which is an example of a support according to Modification Example 7. Link 111E has a U-shaped portion 1110E. U-shaped portion 1110E has a base portion 1113 and a pair of support portions 1111, 1112, but base portion 1113 and the pair of support portions 1111, 1112 are formed from separate members.

[0113] The pair of supports 1111, 1112 are fastened to the base 1113 by fastening members 191, 192, respectively, in a direction intersecting the X direction, which in this seventh modification is the Z direction perpendicular to the X direction, and are integrated with the base 1113.

[0114] The force received by the support parts 1111, 1112 from the drive unit 150 is transmitted to the base part 1113 via the support parts 1111, 1112. By fixing the support parts 1111, 1112 to the base part 1113 in the Z direction with fastening members 191, 192, respectively, it is possible to form a transmission path that guides the force straight from the support parts 1111, 1112 in the -Z direction, as in the first embodiment described above.

[0115] Second embodiment Next, a second embodiment will be described in detail. The present disclosure is not limited to robots, but can be applied to a drive device having a motor, a reducer, and a bearing. For example, the present disclosure can be applied to a drive device of an automobile. In the second embodiment, an electric automobile will be described as an example.

[0116] Fig. 27 is an explanatory diagram of a drive structure 2400 having a motor and wheels of an automobile according to the second embodiment. Fig. 28 is an explanatory diagram of a method of assembling a drive structure 2400 having a motor and wheels of an automobile according to the second embodiment. In the following, the same reference numerals are used for configurations that are the same as or equivalent to those in the first embodiment, and their description will be omitted or simplified, and the following description will focus on the points that are different from the first embodiment.

[0117] 27, the drive structure 2400 of the second embodiment includes a housing 2111, a drive unit 2150, and a tire wheel 2120. The housing 2111 is an example of a support. The drive unit 2150 is supported by the housing 2111. The drive unit 2150 includes a motor 151, a reducer 152, and a bearing 153. The bearing 153 includes an outer ring 1531 and an inner ring 1532. The motor 151 is provided on the input side of the reducer 152, and the bearing 153 is provided on the output side of the reducer 152. The motor 151 is a drive source for the wheel 2120, and drives the wheel shaft 2112 via the reducer 152.

[0118] The bearing 153 is disposed between the housing 2111 and the drive unit 2150. As in the above-described first embodiment, the output side of the reducer 152 of the drive unit 2150 and the wheel shaft 2112 are connected to the housing 2111 via the bearing 153 and the connecting member 183. The wheel shaft 2112 functions as a positioning member that positions the bearing 153 and the reducer 152 relative to the drive unit 2150. In this second embodiment, the inner ring 1532 of the bearing 153 is disposed on the drive unit 2150 side, and the outer ring 1531 of the bearing 153 is disposed on the housing 2111 side.

[0119] If the motor 151, the reducer 152, and the bearing 153 are misaligned with each other, friction resistance will occur. Therefore, in order to drive with high efficiency, it is required that the motor 151, the reducer 152, and the bearing 153 are positioned with high precision relative to each other, that is, that the axes of the motor 151, the reducer 152, and the bearing 153 are aligned with each other.

[0120] Further, the housing 2111 has an opening for passing cables therethrough, and has a U-shaped portion that is substantially U-shaped (see FIG. 28). The drive unit 2150 is disposed in the U-shaped portion. In the second embodiment, the drive unit 2150 is attached to the U-shaped portion of the housing 2111 so as to be detachable as a unit from the U-shaped portion. In other words, the drive unit 2150 is unitized, i.e., integrated, and attached to the housing 2111 so as to be detachable from the housing 2111 together with the drive unit 2150 in the integrated state.

[0121] Next, a method of assembling the drive structure 2400 in the second embodiment will be described with reference to Fig. 28. As in the first embodiment described above, the housing 2111 serving as a support has a base 2113 and a pair of support parts 2114, 2115 spaced apart from the base 2113. The support parts 2114, 2115 are two parts that form part of the U-shaped part of the housing 2111. The support part 2114 has an annular part 2116 on which the drive unit 2150 is disposed. The support part 2115 has an annular part 2117 on which the drive unit 2150 is disposed.

[0122] As shown in Fig. 28, the drive unit 2150 is moved leftward in Fig. 28 to pass through the opening of the annular portion 2116 of the support portion 2114, and the drive unit 2150 is disposed between the pair of support portions 2114, 2115. Then, the flange portion 1613 of the positioning member 161 is fixed to the annular portion 2116 formed by the support portion 2114 and the base portion 2113 with a fastening member (not shown). Also, the coupling member 183 is fitted to the outer ring 1531 of the bearing 153 of the drive unit 2150, and the coupling member 183 is fixed to the annular portion 2117 formed by the support portion 2115 and the base portion 2113 with a fastening member 182. At this time, the fitting between the coupling member 183 and the outer ring 1531 of the bearing 153 is preferably an intermediate fit or an interference fit. Then, the wheel 2120 is fixed to the wheel shaft 2112 with the fastening member 184, whereby the drive structure 2400 can be assembled.

[0123] The connecting member 183 and the internal parts of the drive unit 2150 can be manufactured by a general-purpose machine, as in the first embodiment of the robot described above, and the motor 151, the reducer 152, and the bearing 153 can be assembled to one another with high assembly precision. Therefore, the drive unit 2150 can be assembled with high precision, and the drive unit 2150 can function as a drive device with guaranteed precision.

[0124] On the other hand, the pair of support parts 2114, 2115 of the housing 2111 do not need to have a highly accurate positional relationship with each other as in the comparative example. In other words, the parallelism of the pair of support parts 2114, 2115, and the coaxiality and size tolerance (fitting tolerance) of the annular parts 2116, 2117 on which the drive unit 2150 is arranged do not need to be as accurate as the drive unit 2150. Since the accuracy of the drive device is guaranteed by the drive unit 2150, the drive unit 2150 can be installed in the U-shaped part of the housing 2111 to function as a drive device. The relative position error of the two support parts 2114, 2115 is absorbed by the allowable tilt, internal gap, or fitting gap of the bearing 153 itself.

[0125] In this way, in the second embodiment, the axis alignment of the motor 151, the reducer 152, and the bearing 153 can be performed when assembling the drive unit 2150, and there is no need to perform axis alignment as in the comparative example. Therefore, the housing 2111 can be made smaller and lighter without the need to increase the size and weight as in the comparative example, and the motor 151, the reducer 152, and the bearing 153 can be aligned with high accuracy. Therefore, friction resistance can be reduced. In addition, in the second embodiment, the housing 2111 is integrally molded. Therefore, the housing 2111 can be made smaller and lighter while ensuring the rigidity required for the housing 2111. Then, the drive unit 2150 having the aligned motor 151, the reducer 152, and the bearing 153 may be mounted on the housing 2111. By aligning the axes of the motor 151, the reducer 152, and the bearing 153, the performance and durability of the motor 151, the reducer 152, and the bearing 153 can be improved. In addition, it is possible to reduce frictional resistance caused by axial misalignment of the motor 151, the reducer 152, and the bearing 153, and it is possible to control the positioning and speed of two or more wheels provided on the automobile with high precision. In other words, it is possible to perform driving operations with high precision and high efficiency.

[0126] Third embodiment Next, the third embodiment will be described in detail. In the above-mentioned second embodiment, a serial drive mechanism was described as an example. The present disclosure is also applicable to a parallel drive mechanism. In the third embodiment, an electric vehicle is described as an example. FIG. 29 is an explanatory diagram of a drive structure 2500 having a motor and wheels of an automobile according to the third embodiment. FIG. 30 is an explanatory diagram of an assembly method of the drive structure 2500 having a motor and wheels of an automobile according to the third embodiment. In the following, the same reference numerals are used for configurations that are the same or equivalent to those in the first and second embodiments, and their descriptions are omitted or simplified, and the following description will focus on the differences from the first and second embodiments.

[0127] As shown in FIG. 29, the parallel type drive structure 2500 of the third embodiment has a structure in which the axis 2501 of the motor 151 and the wheel axis 2502 do not coincide with each other. In general, the motor power is transmitted to the wheel via a reducer. As the reducer, a gear train, a belt, a chain, or the like is used. The drive structure 2500 of the third embodiment includes a housing 2111, a drive unit 2150, and a wheel (not shown). The housing 2111 is an example of a support. The drive unit 2150 is supported by the housing 2111. The drive unit 2150 includes a motor 151, a first reducer 2152, and a bearing 153. The motor 151 is provided on the input side of the first reducer 2152, and the bearing 153 is provided on the output side of the first reducer 2152. An input gear 2154 a is formed on the output shaft of the first reducer 2152 , and engages with an output gear 2154 b provided on a wheel to form a second reducer 2154 .

[0128] As shown in FIG. 29, the motor 151 drives a wheel (tire) (not shown) via a first reducer 2152 and a second reducer 2154. The bearing 153 is disposed between the housing 2111 and the drive unit 2150. As in the second embodiment, the outer ring 1531 of the bearing 153 is connected to the connecting member 183 and is provided in the housing 2111 via the connecting member 183. The inner ring 1532 of the bearing 153 is connected to an input gear 2154a that receives the output from the first reducer 2152 as an input. If the motor 151, the first reducer 2152, and the bearing 153 are misaligned with each other, friction resistance will occur. Therefore, in order to perform highly efficient driving, it is required that the motor 151, the first reducer 2152, and the bearing 153 are positioned with high accuracy relative to each other, that is, that the axes of the motor 151, the first reducer 2152, and the bearing 153 are aligned with each other.

[0129] Further, the housing 2111 has an opening for passing the second reducer 2154 therethrough, and has a U-shaped portion that is substantially U-shaped (see FIG. 30). The drive unit 2150 is disposed in the U-shaped portion. In the third embodiment, the drive unit 2150 is attached to the U-shaped portion of the housing 2111 so as to be detachable as a unit from the U-shaped portion. In other words, the drive unit 2150 is unitized, i.e., integrated, and attached to the housing 2111 so as to be detachable from the housing 2111 together with the drive unit 2150 in the integrated state.

[0130] Next, a method of assembling the drive structure 2500 in the third embodiment will be described with reference to Figure 30. As in the second embodiment described above, the housing 2111 serving as a support has a base 2113 and a pair of support parts 2114, 2115 spaced apart from the base 2113. The support parts 2114, 2115 are two parts that form part of the U-shaped part of the housing 2111. The support part 2114 has an annular part 2116 on which the drive unit 2150 is disposed. The support part 2115 has an annular part 2117 on which the drive unit 2150 is disposed.

[0131] 30, the drive unit 2150 is moved leftward in FIG. 30 to pass through an opening of the annular portion 2116 of the support portion 2114, and the drive unit 2150 is disposed between the pair of support portions 2114 and 2115. Then, the flange portion 1613 of the positioning member 161 is fixed to the annular portion 2116 formed by the support portion 2114 and the base portion 2113 by a fastening member (not shown). In addition, the coupling member 183 is fitted to the outer ring 1531 of the bearing 153 of the drive unit 2150, and the coupling member 183 is fixed to the annular portion 2117 formed by the support portion 2115 and the base portion 2113 by a fastening member 182. The input gear 2154a functions as a positioning member that positions the bearing 153 relative to the drive unit 2150. At this time, the fitting between the connecting member 183 and the outer ring 1531 of the bearing 153 is preferably an intermediate fit or an interference fit. Then, by engaging the input gear 2154a with the output gear 2154b, the drive structure 2500 can be assembled.

[0132] The connecting member 183 and the parts inside the drive unit 2150 can be manufactured by a general-purpose machine, as in the first embodiment of the robot described above, and the motor 151, the first reducer 2152, and the bearing 153 can be assembled with high assembly precision. Therefore, the drive unit 2150 can be assembled with high precision, and the drive unit 2150 can function as a drive device with guaranteed precision.

[0133] On the other hand, the pair of support parts 2114, 2115 of the housing 2111 do not need to have a highly accurate positional relationship with each other as in the comparative example. In other words, the parallelism of the pair of support parts 2114, 2115, and the coaxiality and size tolerance (fitting tolerance) of the annular parts 2116, 2117 on which the drive unit 2150 is arranged do not need to be as accurate as the drive unit 2150. Since the accuracy of the drive device is guaranteed by the drive unit 2150, the drive unit 2150 can be installed in the U-shaped part of the housing 2111 to function as a drive device. The relative position error of the two support parts 2114, 2115 is absorbed by the allowable tilt, internal gap, or fitting gap of the bearing 153 itself.

[0134] In this way, in the third embodiment, the axis alignment of the motor 151, the first reducer 2152, and the bearing 153 can be performed when assembling the drive unit 2150, and there is no need to perform axis alignment as in the comparative example. Therefore, there is no need to increase the size and weight as in the comparative example, and the housing 2111 can be made smaller and lighter. In addition, the motor 151, the reducer 152, and the bearing 153 can be aligned with high accuracy. Therefore, friction resistance can be reduced. In the third embodiment, the housing 2111 is integrally molded. Therefore, the housing 2111 can be made smaller and lighter while ensuring the rigidity required for the housing 2111. Then, the drive unit 2150 having the aligned motor 151, the first reducer 2152, and the bearing 153 may be mounted on the housing 2111. By aligning the axes of the motor 151, the first reducer 2152, and the bearing 153, it is possible to improve the performance and durability of the motor 151, the first reducer 2152, and the bearing 153. In addition, it is possible to reduce frictional resistance caused by axial misalignment of the motor 151, the first reducer 2152, and the bearing 153, and it is possible to perform highly accurate positioning control and speed control of two or more wheels provided on an automobile. In other words, it is possible to perform highly accurate and efficient driving operations.

[0135] [Other variations] The present disclosure is not limited to the above-described embodiments, and many modifications of the embodiments are possible within the technical concept of the present disclosure. For example, at least two of the above-described embodiments and modifications may be combined. In addition, the effects described in the present embodiment are merely a list of the most preferable effects resulting from the embodiments of the present disclosure, and the effects of the embodiments of the present disclosure are not limited to those described in the present embodiment.

[0136] In the above-mentioned first embodiment, an example has been described in which the base end link 111 is the fixed side (input side) of the reducer, and the tip end link 112 is the rotating side (output side) of the reducer. However, depending on how the reducer is fixed, a joint may be configured in which a member on the output side of the reducer (e.g., a circular spline) is fixed to link 111, and a member on the input side of the reducer (e.g., a flex spline) is provided on a member that outputs rotation. In this way, it is also possible for link 112 to be the fixed side (input side) of the reducer, and link 111 to be the rotating side (output side) of the reducer.

[0137] In the above-mentioned first embodiment, the robot is described as a vertically articulated robot, but the present invention is not limited to this. The robot may be, for example, a horizontally articulated robot, a parallel link robot, or an orthogonal robot. The present disclosure is also applicable to a machine that can automatically perform the actions of expanding and contracting, bending and stretching, moving up and down, moving left and right, or turning, or a combination of these actions, based on information in a storage device provided in a control device.

[0138] In the above-described first embodiment and multiple modified examples, the joint J2 among multiple joints has been described, but the present invention is not limited to this. Any of the joint structures in the above-described first embodiment and multiple modified examples may be applied to a joint other than the joint J2.

[0139] In the above-described first embodiment and multiple modified examples, the outer ring 1531 of the inner ring 1532 and the outer ring 1531 of the bearing 153 is supported by the positioning member 162, and the inner ring 1532 is supported by the support portion 1112 of the link 111. However, the present invention is not limited to this, and although not shown, the inner ring 1532 of the inner ring 1532 and the outer ring 1531 of the bearing 153 may be supported by the positioning member 162, and the outer ring 1531 may be supported by the support portion 1112 of the link 111. That is, it is only necessary that one of the inner ring 1532 and the outer ring 1531 of the bearing 153 is supported by the positioning member 162, and the other is supported by the support portion 1112 of the link 111.

[0140] (Other Examples) The present invention can also be realized by a process in which a program for implementing one or more of the functions of the above-described embodiments is supplied to a system or device via a network or a storage medium, and one or more processors in a computer of the system or device read and execute the program. The present invention can also be realized by a circuit (e.g., ASIC) that implements one or more of the functions.

[0141] The disclosure of the above embodiments includes the following sections.

[0142] (Section 1) A support having two sites; a unit including a reducer, a motor provided in the reducer, and a bearing provided in the reducer, the reducer, the motor, and the bearing being integrally assembled with each other and attached to the two portions; An apparatus comprising: (Section 2) The two portions are part of a U-shaped portion, and the support body has the U-shaped portion. Item 1. The device according to item 1, characterized in that

[0143] (Section 3) The unit is attached to the support so as to be detachable as a unit from the support. 3. The device according to item 1 or 2, characterized in that

[0144] (Section 4) The unit has a first member that positions the motor and the reducer. Item 4. The device according to item 2 or 3, characterized in that

[0145] (Section 5) The first member includes a housing that accommodates a stator and a rotor of the motor. 5. The device according to item 4, characterized in that

[0146] (Section 6) The unit is provided on the input side of the reducer and has a first oil seal supported by the first member. Item 6. The device according to item 4 or 5, characterized in that

[0147] (Section 7) The first member is supported by the U-shaped portion. 7. The device according to any one of claims 4 to 6, characterized in that

[0148] (Section 8) A second member is provided for integrating the bearing into the unit and positioning the bearing in the unit. 8. The device according to any one of claims 1 to 7.

[0149] (Section 9) One of the inner ring and the outer ring of the bearing is supported by the second member, and the other is supported by the support body. Item 9. The device according to item 8, characterized in that

[0150] (Section 10) The other of the inner ring and the outer ring of the bearing is fixed to the support body via a connecting member. Item 10. The device according to item 9, characterized in that

[0151] (Section 11) The unit has a second oil seal provided on the output side of the reducer and supported by the second member. 11. The device according to any one of items 8 to 10,

[0152] (Section 12) The second member is fixed to the output side of the reducer and positions the reducer and the bearing. 12. The device according to any one of claims 8 to 11,

[0153] (Section 13) the second member is fixed to the output side of the reducer by a plurality of fastening members arranged in a circumferential direction, A diameter of an imaginary circle passing through the centers of the fastening members is smaller than an outer diameter of the bearing. Item 13. The device according to item 12, characterized in that

[0154] (Section 14) The unit includes a brake. Item 14. The device according to any one of items 2 to 13,

[0155] (Section 15) The unit includes an encoder. Item 15. The device according to any one of items 2 to 14,

[0156] (Section 16) The U-shaped portion has a base portion and a pair of support portions arranged on the base portion at an interval in a predetermined direction, The support portion is the two portions, The unit is supported by the pair of support portions. Item 16. The device according to any one of items 2 to 15,

[0157] (Section 17) Each of the pair of support parts has an annular part to which the unit is fixed. Item 17. The device according to item 16, characterized in that

[0158] (Section 18) The pair of support parts are integrally formed with the base part. Item 18. The device according to item 16 or 17, characterized in that

[0159] (Section 19) The pair of support portions each have a draft angle. Item 19. The device according to item 18, characterized in that

[0160] (Section 20) The draft angle slopes upward as it moves away from the base. 20. The device according to item 19, characterized in that

[0161] (Section 21) The draft angle is inclined in a direction parallel to the base so as to open outwardly as it moves away from the center of the support. 20. The device according to item 19, characterized in that

[0162] (Section 22) The pair of support parts are fastened to the base part by fastening members in a direction intersecting the predetermined direction. Item 18. The device according to item 16 or 17, characterized in that

[0163] (Section 23) the support is a first link; a second link supported by the unit so as to be rotationally driven by the unit relative to the first link; 23. The device according to any one of claims 1 to 22,

[0164] (Section 24) Further comprising a force sensor disposed between the unit and the second link. 24. The device according to item 23, characterized in that

[0165] (Section 25) Further comprising a force sensor disposed between the unit and the first link. 24. The device according to item 23, characterized in that

[0166] (Section 26) Item 26. The device according to any one of items 1 to 25, which is a robot.

[0167] (Section 27) Item 26. The device according to any one of items 1 to 25, which is a vehicle.

[0168] (Section 28) 26. A method for controlling an apparatus, comprising controlling the apparatus according to any one of items 1 to 25.

[0169] (Section 29) Item 27. A method for manufacturing an article, comprising the steps of: manufacturing an article using the robot according to item 26.

[0170] (Section 30) 1. A method of assembling a device comprising a support having two sections, comprising the steps of: Fixing the reducer and the motor to a first member so that the reducer and the motor are positioned; Fixing the reducer and the bearing to a second member so that the reducer and the bearing are positioned; The first member and the bearing are supported by the two portions of the support body. A method for assembling a device comprising the steps of:

[0171] (Section 31) Item 29. A program for causing a computer to execute the control method according to item 28.

[0172] (Section 32) Item 32. A computer-readable recording medium having the program according to item 31 recorded thereon. [Explanation of symbols]

[0173] 10...robot (apparatus), 111...link (support, first link), 112...link (second link), 150...driving unit (unit), 151...motor, 152...reduction gear, 1110...U-shaped portion

Claims

1. A support having two sites; a unit including a reducer, a motor provided in the reducer, and a bearing provided in the reducer, the reducer, the motor, and the bearing being integrally assembled with each other and attached to the two portions; An apparatus comprising:

2. The two portions are part of a U-shaped portion, and the support body has the U-shaped portion.

2. The apparatus of claim 1 .

3. The unit is attached to the support so as to be detachable as a unit from the support.

2. The apparatus of claim 1 .

4. The unit has a first member that positions the motor and the reducer.

3. The apparatus according to claim 2 .

5. The first member includes a housing that accommodates a stator and a rotor of the motor.

5. The apparatus according to claim 4.

6. The unit is provided on the input side of the reducer and has a first oil seal supported by the first member.

5. The apparatus according to claim 4.

7. The first member is supported by the U-shaped portion.

5. The apparatus according to claim 4.

8. a second member for integrating the bearing into the unit and positioning the bearing in the unit; 2. The apparatus of claim 1 .

9. One of the inner ring and the outer ring of the bearing is supported by the second member, and the other is supported by the support body.

9. The apparatus of claim 8.

10. The other of the inner ring and the outer ring of the bearing is fixed to the support body via a connecting member.

10. The apparatus of claim 9.

11. The unit has a second oil seal provided on an output side of the reducer and supported by the second member.

9. The apparatus of claim 8.

12. The second member is fixed to an output side of the reducer and positions the reducer and the bearing.

9. The apparatus of claim 8.

13. the second member is fixed to the output side of the reducer by a plurality of fastening members arranged in a circumferential direction, A diameter of an imaginary circle passing through the centers of the fastening members is smaller than an outer diameter of the bearing.

13. The apparatus of claim 12.

14. The unit includes a brake.

3. The apparatus according to claim 2 .

15. The unit includes an encoder.

3. The apparatus according to claim 2 .

16. The U-shaped portion has a base portion and a pair of support portions arranged on the base portion at an interval in a predetermined direction, The support portion is the two portions, The unit is supported by the pair of support portions.

3. The apparatus according to claim 2 .

17. Each of the pair of support parts has an annular part to which the unit is fixed.

17. The apparatus of claim 16.

18. The pair of support parts are integrally formed with the base part.

17. The apparatus of claim 16.

19. The pair of support portions each have a draft angle.

20. The apparatus of claim 18 .

20. The draft angle slopes upward as it moves away from the base.

20. The apparatus of claim 19.

21. The draft angle is inclined in a direction parallel to the base so as to open outwardly as it moves away from the center of the support.

20. The apparatus of claim 19.

22. The pair of support parts are fastened to the base part by fastening members in a direction intersecting the predetermined direction.

17. The apparatus of claim 16.

23. the support is a first link; a second link supported by the unit so as to be rotationally driven by the unit relative to the first link; 2. The apparatus of claim 1 .

24. further comprising a force sensor disposed between the unit and the second link; 24. The apparatus of claim 23.

25. further comprising a force sensor disposed between the unit and the first link; 24. The apparatus of claim 23.

26. 26. A device according to any one of claims 1 to 25, which is a robot.

27. 26. An apparatus according to any one of claims 1 to 25, characterized in that it is a motor vehicle.

28. A method for controlling an apparatus according to any one of claims 1 to 25.

29. A method for manufacturing an article, comprising the steps of: manufacturing an article by using the robot according to claim 26;

30. 1. A method of assembling a device comprising a support having two sections, the method comprising the steps of: Fixing the reducer and the motor to a first member so that the reducer and the motor are positioned; Fixing the reducer and the bearing to a second member so that the reducer and the bearing are positioned; The first member and the bearing are supported by the two portions of the support body. A method for assembling a device comprising the steps of:

31. A program for causing a computer to execute the control method according to claim 28.

32. A computer-readable recording medium having the program according to claim 31 recorded thereon.

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