Robot, cover structure, method for controlling, method for manufacturing article, program, and recording medium

Abstract

To provide a technology that is advantageous for radiating heat from a frame.SOLUTION: A robot includes: a frame including a first part; a cover including a second part and fitted to the frame; and an elastically deformable elastomer. In a state where the cover is fitted to the frame, the elastomer is held between the cover and the frame while the elastomer elastically deforms and the second part of the cover comes into contact with the first part of the frame.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present disclosure relates to a technology for a cover structure and a robot having the cover structure. [Background technology]

[0002] Patent Documents 1 and 2 disclose a configuration in which an elastic body is disposed between the frame and the cover for reasons such as sealing properties or vibration prevention properties. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-64219 A [Patent Document 2] JP 2010-65739 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, since heat from a heat generating element or the like can be conducted to the frame, there is a demand for improving the heat dissipation properties of the frame.

[0005] The present disclosure provides an advantageous technique for dissipating heat from a frame. [Means for solving the problem]

[0006] A first aspect of the present disclosure is a robot comprising a frame having a first part, a cover having a second part and attached to the frame, and an elastically deformable elastic body, wherein when the cover is attached to the frame, the elastic body is sandwiched between the cover and the frame in the elastically deformed state, and the second part of the cover contacts the first part of the frame.

[0007] A second aspect of the present disclosure is a cover structure comprising a frame having a first part, a cover having a second part and attached to the frame, and an elastically deformable elastic body, characterized in that when the cover is attached to the frame, the elastic body is sandwiched between the cover and the frame in the elastically deformed state, and the second part of the cover contacts the first part of the frame. Effect of the Invention

[0008] The present disclosure provides a technique that is advantageous for heat dissipation from a frame. [Brief description of the drawings]

[0009] [Figure 1] 1 is a cross-sectional view of a cover structure according to a first embodiment. [Diagram 2] FIG. 2 is an explanatory diagram for explaining a cover structure according to the first embodiment. [Diagram 3] 5(a) to 5(d) are explanatory views showing an assembly procedure for the cover structure according to the first embodiment. [Figure 4] 5(a) and 5(b) are explanatory views of a case where an external force is applied to the cover according to the first embodiment. [Diagram 5] FIG. 11 is a cross-sectional view of a cover structure according to a modified example of the first embodiment. [Figure 6] FIG. 11 is an explanatory diagram of a robot system according to a second embodiment. [Figure 7] FIG. 11 is a perspective view of a robot arm according to a second embodiment. [Figure 8] FIG. 11 is a block diagram of a robot system according to a second embodiment. [Figure 9] FIG. 11 is an explanatory diagram of a robot arm according to a second embodiment. [Figure 10] 13A is an explanatory diagram of a cover structure according to a second embodiment, and FIG. 13B is a perspective view of a frame according to the second embodiment. [Figure 11] 10(a) is a side view of a link according to a second embodiment, and (b) is a cross-sectional view of the link according to the second embodiment. [Figure 12] 11(a) is an enlarged view of a portion surrounded by a dashed line XIIA shown in FIG. 11(b), and (b) is an enlarged view of a portion surrounded by a dashed line XIIB shown in 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. The following embodiments are illustrative of preferred configurations of the present disclosure, and for example, those skilled in the art can appropriately modify the detailed configurations without departing from the spirit of the present disclosure. In addition, in the drawings referred to in the following description of the embodiments, elements indicated by the same reference numbers have the same functions unless otherwise noted. In addition, these drawings are represented diagrammatically for convenience of illustration and explanation, and therefore shapes, sizes, arrangements, etc. may not strictly match between the drawings.

[0011] In the following embodiments, directions are indicated by the XYZ coordinate system, which is a rectangular coordinate system. The X, Y, and Z directions are mutually orthogonal. In addition, in the following description, for example, when the positive direction of the X axis is described, it refers to the same direction as the X-axis arrow in the XYZ coordinate system, and when the negative direction of the X axis is described, it refers to the direction 180 degrees opposite to the direction of the X-axis arrow in the XYZ coordinate system. In addition, when simply described as the X direction, it refers to the direction parallel to the X axis, regardless of whether it is different from the direction of the X-axis arrow. The same applies to the Y and Z axes other than the X axis.

[0012] [First embodiment] Fig. 1 is a cross-sectional view of a cover structure 30 according to a first embodiment. Fig. 1 illustrates a schematic cross-section of the cover structure 30. The XYZ coordinate system in the first embodiment is a coordinate system based on the cover structure 30.

[0013] The cover structure 30 is applicable to devices such as a robot arm. The cover structure 30 includes a frame 10, a cover 20 attached to the frame 10 so as to be detachable from the frame 10, and an elastic body 40 disposed between the frame 10 and the cover 20 and capable of elastic deformation.

[0014] A drive mechanism (not shown) including a motor (not shown) and a reducer (not shown) is disposed on the frame 10. When the motor operates, the motor and the reducer generate heat, causing the temperature of the frame 10 to rise.

[0015] Furthermore, wiring such as a power cable 71 for operating the motor and a signal cable 72 are arranged inside the frame 10. The inside of the frame 10 refers to the surface of the frame 10 that defines the internal space A1 surrounded by the frame 10 and the cover 20 when the cover 20 is attached to the frame 10.

[0016] The cover 20 is attached to the frame 10 so as to close the opening 16 of the frame 10. By removing the cover 20 from the frame 10, an operator can perform maintenance on the motor, the reducer, and the like through the opening 16 of the frame 10. By attaching the cover 20 to the frame 10, the cables 71, 72, the motor, and the reducer are covered with the cover 20, and the cables 71, 72, the motor, and the reducer are not visible from the outside, improving the aesthetic appearance. In addition, because the cables 71, 72 are covered with the cover 20, the cables 71, 72 are less likely to get caught on devices around the cover structure 30.

[0017] The frame 10 has a hole portion 11 that defines a hole 15, and a claw portion 12. The cover 20 has a protrusion portion 21, a claw portion 22, and a restricting portion 23. The protrusion portion 21 can be inserted into the hole 15, and the claw portion 22 can be hooked onto the claw portion 12. The claw portion 12 is an example of a first claw portion, and the claw portion 22 is an example of a second claw portion.

[0018] When the cover 20 is attached to the frame 10, the elastic body 40 is in an elastically deformed state and is sandwiched between the cover 20 and the frame 10. In this state, the protrusion 21 of the cover 20 is inserted into the hole 15 of the frame 10, so that the protrusion 21 comes into contact with the hole 11, and the claw 22 of the cover 20 is caught on the claw 12 of the frame 10, so that the claw 12 comes into contact with the claw 22.

[0019] In the first embodiment, the hole 11 is an example of a first part, and the protrusion 21 is an example of a second part. Also, in the first embodiment, the claw 12 is an example of a first part, and the claw 22 is an example of a second part.

[0020] That is, the frame 10 has at least one first part, i.e., a plurality of first parts, i.e., hole parts 11 and claw parts 12, and the cover 20 has at least one second part, i.e., a plurality of second parts, i.e., protrusion parts 21 and claw parts 22.

[0021] When the cover 20 is attached to the frame 10, the protrusions 21 of the cover 20 engage with the holes 11 of the frame 10, and the claws 22 of the cover 20 engage with the claws 12 of the frame 10. Each of the holes 11 and the claws 12 is an example of a first engagement portion, and each of the protrusions 21 and the claws 22 is an example of a second engagement portion. In this manner, the cover 20 is firmly fixed to the frame 10 by the engagement structure between the protrusions 21 of the cover 20 and the holes 11 of the frame 10, and the engagement structure between the claws 22 of the cover 20 and the claws 12 of the frame 10.

[0022] Heat generated by a heat generating element such as a motor is conducted to frame 10 and dissipated to the outside air from frame 10. However, because frame 10 has opening 16 formed therein, the area of ​​frame 10 that faces the outside air is small by the amount of opening 16.

[0023] In the first embodiment, when the cover 20 is attached to the frame 10, the elastic body 40 is sandwiched between the cover 20 and the frame 10 in an elastically deformed state, the protrusion 21 of the cover 20 contacts the hole 11 of the frame 10, and the claw 22 of the cover 20 contacts the claw 12 of the frame 10. As a result, a heat conductive portion 31 is formed at the contact portion between the hole 11 and the protrusion 21, and a heat conductive portion 32 is formed at the contact portion between the claw 12 and the claw 22. Therefore, the heat of the frame 10 is efficiently conducted to the cover 20 via the heat conductive portions 31 and 32, and is also dissipated from the cover 20. As a result, the temperature rise of the device having the cover structure 30 is reduced. In this way, according to the first embodiment, a technology advantageous for dissipating heat from the frame 10 is provided.

[0024] The material of the frame 10 may be metal or resin. The material of the cover 20 may be metal or resin. From the viewpoint of heat dissipation, the material of the frame 10 is preferably metal, and the material of the cover 20 is preferably metal.

[0025] In the first embodiment, an elastic body 40 is disposed between the frame 10 and the cover 20. This allows the gap between the frame 10 and the cover 20 to be filled with the elastic body 40, improving the sealing performance. For example, it is possible to reduce dust from escaping from the internal space A1 surrounded by the frame 10 and the cover 20 to the outside, and also to reduce dust from entering the internal space A1 surrounded by the frame 10 and the cover 20 from the outside. In addition, since the sealing performance of the cover structure 30 is improved, the waterproof performance of the cover structure 30 is also improved.

[0026] Moreover, in a state where the cover 20 is attached to the frame 10, the elastic body 40 is sandwiched between the cover 20 and the frame 10 in an elastically deformed state. In the first embodiment, the elastic body 40 brings the frame 10 and the cover 20 into contact with each other by an elastic force (reaction force) caused by elastic deformation. Specifically, in a state where the cover 20 is attached to the frame 10, the elastic body 40 brings the protrusion 21 of the cover 20 into contact with the hole 11 of the frame 10 and the claw 22 of the cover 20 into contact with the claw 12 of the frame 10 by an elastic force caused by elastic deformation. As a result, the heat of the frame 10 is effectively conducted to the cover 20 via the heat conductive parts 31 and 32, and the heat dissipation performance of the cover structure 30 is further improved.

[0027] The elastic body 40 may be a spring, but from the viewpoint of improving sealing performance, it is preferable that the elastic body 40 is formed partly or entirely from an elastomer. Alternatively, the elastic body 40 may be formed partly or entirely from ethylene propylene rubber (EPTSealer), silicone rubber, nitrile rubber, chloroprene rubber, fluororubber, etc.

[0028] Moreover, the elastic body 40 is preferably attached to one of the frame 10 and the cover 20 with a double-sided adhesive tape or the like. This makes it possible to easily position the elastic body 40 between the frame 10 and the cover 20.

[0029] In the first embodiment, the longitudinal direction of the cover 20 is the X direction. A protrusion 21 is disposed at a first end of the cover 20 in the X direction, and a claw portion 22 is disposed at a second end of the cover 20 opposite to the first end in the X direction. Then, the protrusion 21 is inserted into the hole 15, and the claw portion 22 is hooked onto the claw portion 12.

[0030] 1, in a state where the cover 20 is attached to the frame 10, the elastic body 40 is in a state where it is compressed and deformed in the attachment direction (Z direction) of the cover 20 to the frame 10. Therefore, the length 61 of the elastic body 40 in the Z direction is shorter than the natural length of the elastic body 40. When the cover structure 30 is assembled in the state of FIG. 1, the elastic body 40 is in a crushed state. As a result, the elastic body 40 is in close contact with the frame 10 and the cover 20, forming a seal portion 51.

[0031] The elastic body 40 is, for example, a string-like member, and is disposed at a position along the outer periphery of the cover 20 when the cover 20 is attached to the frame 10. This makes it possible to effectively reduce dust from escaping from the internal space A1 enclosed by the frame 10 and the cover 20 to the outside, or dust from entering the internal space A1 from the outside.

[0032] The elastic body 40 is preferably disposed around the entire outer periphery of the cover 20. This makes it possible to reduce the intrusion of dust into the internal space A1 and the release of dust from the internal space A1 around the entire periphery of the cover 20. The elastic body 40 may be formed endlessly in the circumferential direction. For example, the elastic body 40 may be formed into a ring shape by punching.

[0033] Furthermore, the elastic body 40 that has been compressed and deformed exerts an elastic force that tends to return to its natural length, so that the protrusion 21 of the cover 20 comes into contact with the hole 11 of the frame 10, and the claw 22 of the cover 20 comes into contact with the claw 12 of the frame 10. As a result, the heat conductive portion 31 and the heat conductive portion 32 are formed, heat is conducted from the frame 10 to the cover 20, and the heat dissipation performance of the cover structure 30 is further improved.

[0034] The elastic body 40 is provided inside the frame 10 with respect to the contact portion where the protrusion 21 of the cover 20 contacts the hole 11 of the frame 10 and the contact portion where the claw portion 22 of the cover 20 contacts the claw portion 12 of the frame 10. When the cover structure 30 is viewed, for example, in the plus or minus direction of the X-axis in Fig. 1, the elastic body 40 is blocked by the shape of the frame 10 and the shape of the cover 20, and is hidden by the frame 10 and the cover 20 and is difficult to see. This reduces the protrusion of the elastic body 40 from between the frame 10 and the cover 20 when the elastic body 40 is compressed and deformed, and the aesthetic appearance of the cover structure 30 is not impaired.

[0035] FIG. 2 is an explanatory diagram for explaining the reaction force of the elastic body 40 and the contact state between the frame 10 and the cover 20 caused by the reaction force after the cover structure 30 according to the first embodiment is assembled.

[0036] When the cover 20 is attached to the frame 10, the elastic body 40 is sandwiched between the frame 10 and the cover 20 and is in a compressed and deformed state. The gap between the frame 10 and the cover 20 is filled and sealed by the elastic body 40. A restoring force that expands the elastic body 40 in the Z direction is generated in the elastic body 40, and the restoring force of the elastic body 40 forms heat conductive parts 31 and 32 where the frame 10 and the cover 20 are pressed together.

[0037] 3(a) to 3(d) are explanatory diagrams showing the assembly procedure of the cover structure 30 according to the first embodiment.

[0038] In step S1 shown in Fig. 3(a), an operator attaches the elastic body 40 to the cover 20 or the frame 10, for example, to the frame 10 in the example of Fig. 3(a) using, for example, a double-sided adhesive tape. The elastic body 40 may be attached to the cover 20. Next, the operator brings the cover 20 closer to the frame 10. At this time, the elastic body 40 has its natural length.

[0039] In step S2 shown in FIG. 3(b), the worker brings the protrusion 21 of the cover 20 close to the hole 11 of the frame 10.

[0040] 3(c), the worker inserts the protrusion 21 of the cover 20 into the hole 15 of the frame 10 while compressing and deforming the elastic body 40. A gap 303 is formed between the protrusion 21 of the cover 20 and the hole 11 of the frame 10. In addition, a gap 304 is formed between the claw portion 12 of the frame 10 and the restricting portion 23 and the claw portion 22 of the cover 20.

[0041] 3(d), the worker releases the cover 20, whereby the elastic force (restoring force) of the elastic body 40 brings the hole 11 of the frame 10 into contact with the protrusion 21 of the cover 20, and the claw 12 of the frame 10 into contact with the claw 22 of the cover 20. The elastic force of the elastic body 40 fixes the cover 20 to the frame 10.

[0042] A description will be given of a mechanism by which the elastic body 40 absorbs an external force (impact force) when the external force acts on the cover 20. Figures 4(a) and 4(b) are explanatory diagrams of a case in which an external force acts on the cover 20 according to the first embodiment.

[0043] When an external force is applied to the cover 20 as shown in Figure 4(a), the elastic body 40 contracts, causing the gap 501 between the hole portion 11 of the frame 10 and the protrusion portion 21 of the cover 20 to disappear or become smaller, and the gap 502 between the claw portion 12 of the frame 10 and the regulating portion 23 of the cover 20 to disappear or become smaller. As a result, as shown in Figure 4(b), a gap 503 is formed between the hole portion 11 of the frame 10 and the protrusion portion 21 of the cover 20, and a gap 504 is formed between the claw portion 12 of the frame 10 and the claw portion 22 of the cover 20.

[0044] In other words, the frame 10 and the cover 20 are flexibly connected via the elastic body 40. As a result, when the cover structure 30 hits a nearby device or person, the elastic body 40 absorbs the impact and reduces damage to the cover structure 30.

[0045] As described above, according to the first embodiment, when the cover 20 is attached to the frame 10, the elastic body 40 seals the gap between the frame 10 and the cover 20, thereby reducing the amount of dust escaping from the internal space A1 surrounded by the frame 10 and the cover 20 to the outside or the amount of dust entering the internal space A1 from the outside, and the elastic force of the elastic body 40 brings the frame 10 and the cover 20 into direct contact, thereby effectively dissipating heat conducted to the frame 10.

[0046] Furthermore, by making the cover structure 30 screw-free, the screws will not fall off due to vibration caused by the movement of the cover structure 30.

[0047] [Modification 1 of the first embodiment] In the cover structure 30 of the first embodiment described above, a screw-free configuration is used, but the present invention is not limited thereto, and the cover 20 may be fixed to the frame 10 with a fastening member such as a screw. When the cover 20 is attached to the frame 10, the elastic body 40 may be sandwiched between the cover 20 and the frame 10 in an elastically deformed state, and a part of the cover 20 may be in contact with a part of the frame 10. In this case, it is possible to omit the engagement structure between the hole portion 11 and the protrusion portion 21 and the engagement structure between the claw portion 12 and the claw portion 22 described in the first embodiment, and the cover 20 and the frame 10 can be simply configured while ensuring contact between the cover 20 and the frame 10, thereby reducing the cost of the cover structure.

[0048] [Modification 2 of the First Embodiment] The engagement structure of the first embodiment and the screw fastening structure of the first modified example may be combined. That is, a part of the cover 20 and a part of the frame 10 are firmly attached to each other by a fastening member such as a screw, thereby forming a part in the cover structure with improved heat dissipation. Also, a part in the cover structure with improved heat dissipation and improved sealing by the elastic body 40 is formed by engaging the protrusion 21 of the cover 20 and the hole 11 of the frame 10 with the claw 22 of the cover 20 and the claw 12 of the frame 10 by the elastic force of the elastic body 40. That is, the screw fastening structure improves heat dissipation in the area close to a heat generating body such as a motor, and the elastic body 40 improves sealing in the other area. Also, by deforming the cover 20 by the engagement structure and the screw fastening structure and fixing the cover 20 to the frame 10, an axial force is applied to the screw by the reaction force generated in the cover 20, thereby reducing loosening and falling off of the screw due to vibration.

[0049] [Third Modification of the First Embodiment] The frame 10 is made of a thick metal and easily transmits heat. In contrast, the cover 20 may be thinner than the frame 10. Therefore, the material of the cover 20 is preferably a non-ferrous metal, such as aluminum or magnesium, that has a higher thermal conductivity than ferrous materials. Heat generated by the reducer and motor is efficiently conducted to the cover 20 through the frame 10, so that the heat of the reducer and motor can be efficiently dissipated.

[0050] [Fourth Modification of the First Embodiment] The material of the cover 20 may be a resin such as ABS. When the material of the cover 20 is a resin, the cover 20 serves as a buffer material when the cover 20 is hit by a worker or a surrounding object.

[0051] [Fifth Modification of the First Embodiment] The sealing performance can be further improved by forming the elastic body 40 into a closed-cell structure. For example, it is possible to reduce the intrusion of dust from the surrounding environment into the internal space A1 surrounded by the frame 10 and the cover 20, and also to reduce the escape of dust from the internal space A1 to the outside.

[0052] [Sixth Modification of the First Embodiment] By making the tissue structure of the elastic body 40 an open-cell structure, heat dissipation is further improved, and the temperature of the frame 10 can be lowered. When the tissue structure of the elastic body 40 is an open-cell structure, air in the internal space A1 surrounded by the frame 10 and the cover 20 can pass through the open cells of the elastic body 40 and escape to the outside. Air entering and exiting the internal space A1 via such an open-cell structure promotes heat dissipation.

[0053] [Seventh Modification of the First Embodiment] The contact surface where the frame 10 contacts the cover 20 via the elastic body 40 and the contact surface where the cover 20 contacts the frame 10 via the elastic body 40 may each be flat. This makes it easy to manufacture the frame 10 and the cover 20, and allows the manufacturing costs of the frame 10 and the cover 20 to be reduced.

[0054] [Eighth Modification of the First Embodiment] The contact surface where the frame 10 contacts the cover 20 via the elastic body 40 and the contact surface where the cover 20 contacts the frame 10 via the elastic body 40 may each be a free curved surface. This increases the degree of freedom in designing the cover structure 30. As a result, it is possible to reduce the width of a device having the cover structure and design a space-efficient device.

[0055] If the contact surfaces of the frame 10 and the cover 20 are formed into the same curved surface, the distance between the frame 10 and the cover 20 will be constant, and the elastic body 40 interposed between the contact surfaces of the frame 10 and the cover 20 will also be compressed to an approximately constant thickness.

[0056] The contact surface of the frame 10 and the contact surface of the cover 20 may be different free curved surfaces, or one contact surface may be curved and the other may be flat. Even in these cases, the amount of compression of the elastic body 40 interposed between the contact surface of the frame 10 and the contact surface of the cover 20 varies depending on the location, so that sealing performance can be maintained. This makes it possible to relax the precision of the contact surfaces of the frame 10 and the cover 20, and reduces the manufacturing costs of the frame 10 and the cover 20.

[0057] [Modification 9 of the First Embodiment] 5 is a cross-sectional view of a cover structure 30A according to a 9th modified example of the first embodiment. In the following, elements having the same reference symbols as those in the first embodiment have substantially the same configurations and functions as those described in the first embodiment unless otherwise specified, and differences from the first embodiment will be mainly described.

[0058] The cover structure 30A includes a frame 10A, a cover 20A attached to the frame 10A so as to be detachable from the frame 10A, and an elastic body 40A disposed between the frame 10A and the cover 20A and capable of elastic deformation. The cover 20A is attached to the frame 10A so as to cover the opening 16A of the frame 10A.

[0059] The frame 10A has a hole portion 11A that defines a hole 15A, and an engagement portion 12A. The cover 20A has a protrusion portion 21A and an engagement portion 22A. The protrusion portion 21A can be inserted into the hole 15A, and the engagement portion 22A can be engaged with the engagement portion 12A.

[0060] When the cover 20A is attached to the frame 10A, the elastic body 40A is in an elastically deformed state and is sandwiched between the cover 20A and the frame 10A. In this state, the protrusion 21A of the cover 20A is inserted into the hole 15A of the frame 10A and the protrusion 21A contacts the hole 11A, and the engagement portion 22A of the cover 20A abuts against the engagement portion 12A of the frame 10A, so that the engagement portion 12A contacts the engagement portion 22A.

[0061] In the 9th modification, the hole portion 11A is an example of the first portion, and the protrusion portion 21A is an example of the second portion. Also, in the 9th modification, the engagement portion 12A is an example of the first portion, and the engagement portion 22A is an example of the second portion.

[0062] That is, the frame 10A has, as at least one first part, a plurality of first parts, i.e., the hole portion 11A and the engagement portion 12A, and the cover 20A has, as at least one second part, a plurality of second parts, i.e., the protrusion portion 21A and the engagement portion 22A.

[0063] When the cover 20A is attached to the frame 10A, the protrusion 21A of the cover 20A engages with the hole 11A of the frame 10A, and the engagement portion 22A of the cover 20A engages with the engagement portion 12A of the frame 10A. In this manner, each of the hole 11A and the engagement portion 12A is an example of a first engagement portion, and each of the protrusion 21A and the engagement portion 22A is an example of a second engagement portion.

[0064] In the ninth modification, when the cover 20A is attached to the frame 10A, the elastic body 40A is sandwiched between the cover 20A and the frame 10A in an elastically deformed state, the protrusion 21A of the cover 20A contacts the hole 11A of the frame 10A, and the engagement portion 22A of the cover 20A contacts the engagement portion 12A of the frame 10A. As a result, a heat conduction portion 31A is formed at the contact portion between the hole 11A and the protrusion 21A, and a heat conduction portion 32A is formed at the contact portion between the engagement portion 12A and the engagement portion 22A. Therefore, the heat of the frame 10A is efficiently conducted to the cover 20A via the heat conduction portions 31A and 32A, and is also dissipated from the cover 20A. As a result, the temperature rise of the device having the cover structure 30A is reduced.

[0065] In the ninth modification, an elastic body 40A is disposed between the frame 10A and the cover 20A. This allows the gap between the frame 10A and the cover 20A to be filled with the elastic body 40A, improving the sealing performance. For example, it is possible to reduce dust from escaping from the internal space A2 surrounded by the frame 10A and the cover 20A to the outside, and also to reduce dust from entering the internal space A2 surrounded by the frame 10A and the cover 20A from the outside.

[0066] Moreover, the elastic body 40A is sandwiched between the cover 20A and the frame 10A in an elastically deformed state. In the 9th modification, the frame 10A and the cover 20A are brought into contact with each other by the elastic force (reaction force) of the elastic body 40A, so that the heat of the frame 10A is effectively conducted to the cover 20A via the heat conductive parts 31A and 32A, and the heat dissipation property of the cover structure 30A is further improved.

[0067] The elastic body 40A may be a spring, but from the viewpoint of improving sealing performance, it is preferable that a part or the whole of the elastic body 40A is made of an elastomer. Alternatively, ethylene propylene rubber (EPTSealer), silicone rubber, nitrile rubber, chloroprene rubber, fluororubber, etc. may be used in part or in whole as the elastic body 40A.

[0068] In FIG. 5, the elastic body 40A is in a state in which it is deformed by tension in the Z direction. The length 62 of the elastic body 40A in the Z direction is longer than the natural length of the elastic body 40A. When the cover structure 30A is assembled in the state shown in FIG. 5, the elastic body 40A is in a tensioned state. The elastic body 40A is attached to both the frame 10A and the cover 20A by double-sided adhesive tape or the like to form a seal portion 51A. The elastic body 40A is, for example, a string-like member, and is arranged at a position along the outer periphery of the cover 20A when the cover 20A is attached to the frame 10A.

[0069] The elastic body 40A, which has been deformed by tension, exerts an elastic force that tries to return to its natural length, i.e., an elastic force that tries to shrink, so that the protrusion 21A of the cover 20A comes into contact with the hole 11A of the frame 10A, and the engagement portion 22A of the cover 20A comes into contact with the engagement portion 12A of the frame 10A. This forms the heat conductive portion 31A and the heat conductive portion 32A, and heat is conducted from the frame 10A to the cover 20A, further improving the heat dissipation of the cover structure 30A.

[0070] In addition, the elastic body 40A is provided inside the frame 10A from the contact portion where the protrusion 21A of the cover 20A contacts the hole 11A of the frame 10A and the contact portion where the engagement 22A of the cover 20A contacts the engagement portion 12A of the frame 10A. When the cover structure 30A is viewed, for example, in the plus or minus direction of the X-axis in FIG. 5, the elastic body 40A is blocked by the shape of the frame 10A and the shape of the cover 20A, and is hidden by the frame 10A and the cover 20A and is difficult to see. This reduces the elastic body 40A from protruding out from between the frame 10A and the cover 20A when the elastic body 40A is compressed and deformed, and the aesthetic appearance of the cover structure 30A is not impaired.

[0071] [Second embodiment] 6 is an explanatory diagram of a robot system 1000 according to the second embodiment. In the following, elements having the same reference symbols as those in the first embodiment have substantially the same configurations and functions as those described in the first embodiment unless otherwise specified, and differences from the first embodiment will be mainly described.

[0072] The robot system 1000 includes a robot 100 and a control system 400. The control system 400 includes a control device 200 and a teaching pendant 300, which is an example of a command device.

[0073] The XYZ coordinate system in the second embodiment is a robot coordinate system based on the robot 100. The X, Y, and Z directions are mutually perpendicular. In the XYZ coordinate system, the XY plane is a horizontal plane, and the XZ and YZ planes are vertical planes. The X and Y directions are horizontal directions. The negative direction of the Z axis is the vertical direction (gravity direction), in other words, the downward direction. The positive direction of the Z axis is the upward direction. The Z direction is also the height direction.

[0074] The robot 100 is, for example, an industrial robot, or a so-called manipulator. The robot 100 and the control device 200 are connected to each other by, for example, a cable 80 so as to be capable of transmitting data therebetween. The control device 200 and the teaching pendant 300 are connected to each other by, for example, a cable so as to be capable of transmitting data therebetween.

[0075] The control device 200 is for controlling the operation of the robot 100, and is configured, for example, by a computer. The teaching pendant 300 is an input device that can be operated by a user, and has a function of sending an operation command to the control device 200 when operated by the user, and can operate the robot 100 according to the user's operation. The control device 200 is configured to operate the robot 100 according to an operation command of a robot program or an operation command from the teaching pendant 300. The teaching pendant 300 can be used when teaching the robot 100.

[0076] The base of the robot 100 is a fixed end and is fixed to a stand (not shown) or the like. The tip of the robot 100 is a free end. The robot 100 has a robot arm 101 and a robot hand 102 which is an example of an end effector attached to the robot arm 101. The robot hand 102 is disposed at a predetermined portion of the robot arm 101, for example, at the tip of the robot arm 101.

[0077] FIG. 7 is a perspective view of a robot arm 101 according to the second embodiment. Note that FIG. 7 illustrates the robot arm 101 in a vertically extended state. The robot arm 101 is a robot arm having six joints J1 to J6. The robot arm 101 is, for example, a vertical multi-joint robot arm. Note that 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 to each other by the joints J1 to J6 in a serial link format, so that each of the links 111 to 116 can rotate at each of the joints J1 to J6. The robot hand 102 is attached to, for example, the link 116.

[0078] 7, the base 110 and the link 111 are connected by a joint J1 that rotates around a rotation axis extending in the Z direction. The link 111 at the joint J1 has a movable range of, for example, approximately ±180 degrees with respect to a reference position relative to the base 110.

[0079] The link 111 and the link 112 are connected at a joint J2. The rotation axis of the joint J2 extends in the Y direction in the state shown in Fig. 7. The link 112 at the joint J2 has a movable range of, for example, approximately ±120 degrees with respect to a reference position with respect to the link 111.

[0080] Link 112 and link 113 are connected at joint J3. The rotation axis of joint J3 extends in the Y direction in the state shown in Fig. 7. Link 113 at joint J3 has a movable range of, for example, approximately ±80 degrees with respect to a reference position relative to link 112.

[0081] Link 113 and link 114 are connected at joint J4. The rotation axis of joint J4 extends in the Z direction in the state shown in Fig. 7. Link 114 at joint J4 has a movable range of, for example, approximately ±180 degrees with respect to a reference position with respect to link 113.

[0082] Link 114 and link 115 are connected at joint J5. The rotation axis of joint J5 extends in the Y direction in the state shown in Fig. 7. Link 115 at joint J5 has a movable range of, for example, approximately ±120 degrees with respect to a reference position with respect to link 114.

[0083] Link 115 and link 116 are connected at joint J6. The rotation axis of joint J6 extends in the Z direction in the state shown in Fig. 7. Link 116 at joint J6 has a movable range of, for example, approximately ±240 degrees with respect to a reference position with respect to link 115.

[0084] In the second embodiment, the rotation axes of the joints J1, J4, and J6 are parallel to (for example, coaxial with) the central axes of the two linked links. In each of the joints J1, J4, and J6, the distal link of the two links rotates torsionally about the rotation axis relative to the proximal link.

[0085] Meanwhile, the rotation axes of the joints J2, J3, and J5 each intersect (for example, perpendicularly) with the central axes of the two connected links. In each of the joints J2, J3, and J5, the distal link of the two links bends (swings) about the rotation axis relative to the proximal link.

[0086] A motor, a reducer, a torque sensor, and an encoder are disposed in each of the joints J1 to J6. The motors provided in the joints J1 to J6 drive the links 111 to 116 via reducers, allowing the robot 100 to assume various postures. A tool center point (TCP) is defined at the tip of the robot 100, and the robot 100 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.

[0087] The robot hand 102 is configured to be capable of holding a workpiece. In a production line for manufacturing goods, the robot 100 can grasp a workpiece with the robot hand 102 to carry it or assemble it to another workpiece, or grasp a tool to process the workpiece. Alternatively, the robot 100 can perform work by attaching an actuator other than the robot hand 102 to the link 116 instead of the robot hand 102, depending on the work content of the manufacturing process.

[0088] For example, a plurality of workpieces are arranged around the robot 100. An article that is an assembly can be manufactured by having the robot 100 hold one workpiece and assemble the workpiece to another workpiece. The assembly can be an intermediate product or a final product.

[0089] The teaching pendant 300 includes a touch panel display that serves both as an input unit, which is an input device, and as a display unit, which is a display device. A user interface (UI) image is displayed on the touch panel display.

[0090] For example, the touch panel display of the teaching pendant 300 displays operation keys for setting the positions or angles of the joints of the robot arm 101, or the position of a reference point defined at the tip of the robot arm 101. When the operation keys of the teaching pendant 300 are operated by a user, the control device 200 controls the operation of the robot arm 101 via the cable 80 (wiring) in accordance with an operation command corresponding to the operation. At that time, the control device 200 controls each part of the robot arm 101 by executing a program including a control program.

[0091] In the teaching pendant 300, the input section and the display section may be configured separately, and the input section may be configured by a mechanical switch or the like.

[0092] Fig. 8 is a block diagram of a robot system 1000 according to the second embodiment. As shown in Fig. 8, the control device 200 is configured as a computer and includes a CPU (Central Processing Unit) 201, which is a processor. The control device 200 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 200 also includes a recording disk drive 205 and an I / O (Input / Output) 206, which is an input / output interface. The CPU 201, the ROM 202, the RAM 203, the HDD 204, the recording disk drive 205, and the I / O 206 are connected to each other via a bus 210 so as to be able to transmit data to each other.

[0093] 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 100 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 300.

[0094] The robot arm 101 has six drivers 180, the same number as the joints J1 to J6, and six drive modules 190, the same number as the joints J1 to J6. Each drive module 190 is disposed at each joint J1 to J6. Note that in FIG. 8, one of the six drivers 180 and one of the six drive modules 190 are illustrated.

[0095] 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.

[0096] The drive module 190 includes a drive mechanism 170 including a motor 171 and a reducer 172, an encoder 173, and a torque sensor 174. The drive mechanism 170 drives the link 112 to swing relative to the link 111. The driver 180 includes a microcomputer (not shown), an A / D conversion circuit (not shown), a motor drive circuit (not shown), etc. The driver 180 is connected to an I / O 206 of the control device 200 via a bus wiring 160.

[0097] The motor 171 is an electric motor and is a drive source that drives the joint J2. The motor 171 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 172.

[0098] The torque sensor 174 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 180. The encoder 173 is a rotary encoder that detects the rotation angle of the motor shaft of the motor 171, and outputs a signal indicating an encoder value that is the detection result to the driver 180.

[0099] The driver 180 receives a signal from the torque sensor 174 at a predetermined cycle, converts it into a digital signal indicating a force value (torque value), and outputs it to the control device 200. The driver 180 also receives and counts an encoder signal from the encoder 173, and outputs the counted value to the control device 200. The control device 200 controls the robot 100 based on these detection results.

[0100] In the second 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.

[0101] Furthermore, the storage device included in the control device 200 is the HDD 204, but this is not limiting, and the storage device included in the control device 200 may be, for example, an SSD (Solid State Drive).

[0102] The control device 200 or the teaching pendant 300 may be connected to a network. The robot 100 and the control device 200, or the control device 200 and the teaching pendant 300 may be connected via a network.

[0103] Here, the robot 100 can be used in cases such as mass production of one type of product, or small-scale production of multiple types of products.

[0104] When mass-producing one type of product, the robot 100 is placed on a production line in a factory or the like and repeatedly executes the same operation. In this case, a fence or the like is placed between the robot 100 and the worker to prevent the worker from approaching the robot 100 during operation.

[0105] On the other hand, when producing a small number of different types of products, it is assumed that the robot 100 and a worker work together, or that the worker directly grasps the robot 100 and performs direct teaching to teach the robot 100. In other words, it is assumed that the distance between the worker and the robot 100 is short, and the worker touches the robot 100. When the robot 100 operates, heating elements such as the motor 171 generate heat. Because the worker touches the robot 100, the robot 100 is required to have high heat dissipation properties so that the temperature of the robot 100 does not rise above a predetermined temperature.

[0106] Furthermore, when producing a small number of different types of products, it may be necessary to change the location of the robot 100. Therefore, by placing the robot 100 on a cart or the like to make the robot 100 movable, it becomes easier to move the robot 100. In such a case, the robot 100 is required to have resistance to vibrations that occur during movement.

[0107] Furthermore, when the robot 100 is operated in a special environment such as a clean room, dust resistance or low dust generation is required.

[0108] Fig. 9 is an explanatory diagram of the robot arm 101 for explaining a cover structure of the robot arm 101 according to the second embodiment. Fig. 9 shows a perspective view of the robot arm 101 before it is assembled, that is, a state in which the robot arm 101 is partially disassembled. In the second embodiment, any of the cover structures of the first embodiment and its modified examples 1 to 9 is applied to the links 111, 112, 113, and 114 of the robot 100.

[0109] The link 111 has a frame 121 and covers 122 and 123 attached to the frame 121 so as to be removable from the frame 121. The link 112 has a frame 131 and covers 132 and 133 attached to the frame 131 so as to be removable from the frame 131. The link 113 has a frame 141 and a cover 142 attached to the frame 141 so as to be removable from the frame 141. The link 114 has a frame 151 and covers 152 and 153 attached to the frame 151 so as to be removable from the frame 151.

[0110] That is, covers 122, 123 are arranged on both sides of joint J2 in the Y direction. Covers 132, 133 are arranged on both sides of joint J3 in the Y direction. Covers 152, 153 are arranged on both sides of joint J5 in the Y direction. The covers 122, 123 have a substantially symmetrical shape. The covers 132, 133 have a substantially symmetrical shape. The covers 152, 153 have a substantially symmetrical shape. A cover 142 is arranged at joint J4.

[0111] For example, cables (not shown) are wired on the side of the covers 123, 133, and 153. The cables include wires such as signal wires for controlling the motors, power wires for the motor 171, signal wires for the encoder 173, power wires for the encoder 173, signal wires for the torque sensor 174, and power wires for the torque sensor 174. For example, the encoder 173 and the driver 180 shown in FIG. 8 are disposed on the side of the covers 122, 132, and 152.

[0112] An elastic body (not shown) is disposed as a sealant between the frame 121 and each of the covers 122 and 123. An elastic body (not shown) is disposed as a sealant between the frame 131 and each of the covers 132 and 133. An elastic body (not shown) is disposed as a sealant between the frame 141 and the cover 142. An elastic body (not shown) is disposed as a sealant between the frame 151 and each of the covers 152 and 153.

[0113] An example in which a cover structure corresponding to the cover structure 30 of the first embodiment is applied to a link 111 will be described in detail below.

[0114] Fig. 10(a) is an explanatory diagram of a cover structure 120 according to a second embodiment. Fig. 10(a) shows a perspective view of the cover structure 120 before it is assembled, i.e., the cover structure 120 disassembled. The cover structure 120 is included in the link 111. The cover structure 120 is a cover structure on the cover 123 side. Note that the cover structure on the cover 122 side opposite the cover structure 120 in the link 111 is symmetrical to the cover structure 120, and therefore will not be described.

[0115] The cover structure 120 includes a frame 121, a cover 123 attached to the frame 121 so as to be removable from the frame 121, and an elastic body 124 disposed between the frame 121 and the cover 123 and capable of elastic deformation.

[0116] FIG. 10(b) is a perspective view of the frame 121 according to the second embodiment. FIG. 11(a) is a side view of the link 111 according to the second embodiment. FIG. 11(a) shows a side view of the link 111 seen from the cover 123 side. FIG. 11(b) is a cross-sectional view of the link 111 according to the second embodiment. FIG. 11(b) shows a cross-sectional view of the link 111 along the line XIB-XIB shown in FIG. 11(a). In FIG. 11(b), the link 112 supported by the link 111 and the drive module 190 are shown by imaginary lines shown by two-dot chain lines. In FIG. 11(b), the cover 122 and the elastic body on the cover 122 side of the link 111 are omitted.

[0117] Figure 12(a) is an enlarged view of a portion enclosed by dashed line XIIA shown in Figure 11(b), and Figure 12(b) is an enlarged view of a portion enclosed by dashed line XIIB shown in Figure 11(b).

[0118] The link 112 is supported by the frame 121 so as to be rotatable relative to the frame 121. The frame 121 has a U-shaped portion, and supports the link 112 at the U-shaped portion in a double-supported structure. That is, the link 112 is swingable relative to the frame 121 of the link 112.

[0119] Inside the link 112 located between the U-shaped portions of the frame 121, a drive module 190, i.e., a drive mechanism 170 including a motor 171 and a reducer 172, an encoder 173, and a torque sensor 174 are disposed at a location corresponding to the rotation axis of the joint J2. When the motor 171 operates, the motor 171 and the reducer 172 generate heat, and the heat is conducted to the frame 121 via the link 112, causing the temperature of the frame 121 to rise.

[0120] Further, inside the frame 121, a cable 80 including power wiring and signal wiring for operating the motor 171 is arranged. The cable 80 includes the bus wiring 160 described above.

[0121] The inside of the frame 121 refers to the surface of the frame 121 that defines an internal space surrounded by the frame 121 and the cover 123 when the cover 123 is attached to the frame 121 .

[0122] The cover 123 is attached to the frame 121 so as to close the opening 126 of the frame 121. By removing the cover 123 from the frame 121, an operator can perform maintenance on the motor 171, the reducer 172, the encoder 173, the torque sensor 174, and the like through the opening 126 of the frame 121. By attaching the cover 123 to the frame 121, the drive module 190 and the cable 80 are covered with the cover 123, and the drive module 190 and the cable 80 are not visible from the outside, improving the aesthetic appearance of the robot arm 101. In addition, since the cable 80 is covered with the cover 123, the cable 80 is less likely to get caught on peripheral devices of the robot arm 101.

[0123] Frame 121 has hole portion 411 that defines hole 415, and claw portion 412. Cover 123 has protrusion portion 421 and claw portion 422. Protrusion portion 421 can be inserted into hole 415, and claw portion 422 can be hooked onto claw portion 412. Claw portion 412 is an example of a first claw portion, and claw portion 422 is an example of a second claw portion.

[0124] When cover 123 is attached to frame 121, elastic body 124 is in an elastically deformed state and is sandwiched between cover 123 and frame 121. In this state, protrusion 421 of cover 123 is inserted into hole 415 of frame 121, protrusion 421 contacts hole 411, claw 422 of cover 123 is caught by claw 412 of frame 121, and claw 412 contacts claw 422.

[0125] In the second embodiment, the hole 411 is an example of a first portion, and the protrusion 421 is an example of a second portion. Also, in the second embodiment, the claw 412 is an example of a first portion, and the claw 422 is an example of a second portion.

[0126] That is, the frame 121 has at least one first part, i.e., a plurality of first parts, i.e., two hole parts 411 and one claw part 412, and the cover 123 has at least one second part, i.e., a plurality of second parts, i.e., two protrusion parts 421 and one claw part 422.

[0127] When the cover 123 is attached to the frame 121, the protrusion 421 of the cover 123 engages with the hole 411 of the frame 121, and the claw 422 of the cover 123 engages with the claw 412 of the frame 121. Each of the hole 411 and the claw 412 is an example of a first engagement portion, and each of the protrusion 421 and the claw 422 is an example of a second engagement portion. In this manner, the cover 123 is fixed to the frame 121 by the engagement structure between the protrusion 421 of the cover 123 and the hole 411 of the frame 121, and the engagement structure between the claw 422 of the cover 123 and the claw 412 of the frame 121.

[0128] Heat generated by a heating element such as motor 171 is conducted to frame 121 and dissipated to the outside air from frame 121. However, because frame 121 has opening 126, the area of ​​frame 121 that faces the outside air is small by the amount of opening 126.

[0129] In the second embodiment, in a state where the cover 123 is attached to the frame 121, the elastic body 124 is sandwiched between the cover 123 and the frame 121 in an elastically deformed state, the protrusion 421 of the cover 123 contacts the hole 411 of the frame 121, and the claw 422 of the cover 123 contacts the claw 412 of the frame 121. As a result, a heat conductive portion 431 is formed at the contact portion between the hole 411 and the protrusion 421, and a heat conductive portion 432 is formed at the contact portion between the claw 412 and the claw 422. Therefore, the heat of the frame 121 is efficiently conducted to the cover 123 via the heat conductive portions 431 and 432, and is also dissipated from the cover 123. As a result, the temperature rise of the robot 100 having the cover structure 120 is reduced. In this way, according to the second embodiment, a technology advantageous for dissipating heat from the frame 121 is provided.

[0130] The material of frame 121 may be metal or resin. The material of cover 123 may be metal or resin. From the viewpoint of heat dissipation, the material of frame 121 is preferably metal, and the material of cover 123 is preferably metal.

[0131] Moreover, the material of cover 123 is preferably a non-ferrous metal, such as aluminum or magnesium, that has a higher thermal conductivity than ferrous materials. Since heat generated in reducer 172 and motor 171 is efficiently conducted to cover 123 through frame 121, the heat of reducer 172 and motor 171 can be efficiently dissipated.

[0132] In the second embodiment, an elastic body 124 is disposed between the frame 121 and the cover 123. This allows the gap between the frame 121 and the cover 123 to be filled with the elastic body 124, improving the sealing performance. For example, it is possible to reduce dust from escaping from the internal space surrounded by the frame 121 and the cover 123 to the outside, and also to reduce dust from entering the internal space surrounded by the frame 121 and the cover 123 from the outside. Furthermore, since the sealing performance of the cover structure 120 is improved, the waterproof performance of the cover structure 120 is also improved.

[0133] Moreover, in a state where the cover 123 is attached to the frame 121, the elastic body 124 is sandwiched between the cover 123 and the frame 121 in an elastically deformed state. In the second embodiment, the elastic body 124 brings the frame 121 and the cover 123 into contact with each other by an elastic force (reaction force) caused by the elastic deformation. Specifically, in a state where the cover 123 is attached to the frame 121, the elastic body 124 brings the protrusion 421 of the cover 123 into contact with the hole 411 of the frame 121 and the claw 422 of the cover 123 into contact with the claw 412 of the frame 121 by an elastic force caused by the elastic deformation. As a result, the heat of the frame 121 is effectively conducted to the cover 123 via the heat conduction parts 431 and 432, and the heat dissipation performance of the cover structure 120 is further improved.

[0134] The elastic body 124 may be a spring, but from the viewpoint of improving sealing performance, it is preferable that a part or the whole of the elastic body 124 is made of an elastomer. Alternatively, the elastic body 124 may be made of ethylene propylene rubber (EPTSealer), silicone rubber, nitrile rubber, chloroprene rubber, fluororubber, or the like.

[0135] The elastic body 124 may have a closed cell structure. This can further improve the sealing performance. For example, it can reduce dust from the surrounding environment from entering the internal space surrounded by the frame 121 and the cover 123, and also reduce dust from escaping from the internal space to the outside.

[0136] Furthermore, the elastic body 124 may have an open cell structure. This further improves heat dissipation and can lower the temperature of the frame 121. When the tissue structure of the elastic body 124 is an open cell structure, air in the internal space surrounded by the frame 121 and the cover 123 can pass through the open cells of the elastic body 124 and escape to the outside. Air entering and exiting the internal space via such an open cell structure can promote heat dissipation.

[0137] Moreover, it is preferable that the elastic body 124 is attached to one of the frame 121 and the cover 123 with a double-sided adhesive tape or the like. This makes it possible to easily position the elastic body 124 between the frame 121 and the cover 123.

[0138] In the second embodiment, a protrusion 421 is disposed at a first end in the longitudinal direction of cover 123, and a claw 422 is disposed at a second end opposite to the first end in the longitudinal direction of cover 123. Then, protrusion 421 is inserted into hole 415, and claw 422 is hooked onto claw 412.

[0139] 12(a) and 12(b), the elastic body 124 is in a state where it is compressed and deformed in the mounting direction of the cover to the frame 121. In a state where the cover 123 is mounted to the frame 121, the length of the elastic body 124 is shorter than the natural length of the elastic body 124. When the cover structure 120 is assembled in the state shown in FIG. 11(b), the elastic body 124 is in a crushed state. As a result, the elastic body 124 comes into close contact with the frame 121 and the cover 123, forming a seal portion 451.

[0140] Elastic body 124 is, for example, a string-like member, and is disposed at a position along the outer periphery of cover 123 when cover 123 is attached to frame 121. This makes it possible to effectively reduce dust from escaping from the internal space enclosed by frame 121 and cover 123 to the outside, or dust from the outside into the internal space.

[0141] The elastic body 124 is preferably disposed around the entire outer periphery of the cover 123. This makes it possible to reduce the intrusion and release of dust around the entire periphery of the cover 123. The elastic body 124 may be formed endlessly in the circumferential direction. For example, the elastic body 124 may be formed into a ring shape by punching.

[0142] Furthermore, as the compressively deformed elastic body 124 exerts an elastic force tending to return to its natural length, the protrusion 421 of the cover 123 comes into contact with the hole 411 of the frame 121, and the claw 422 of the cover 123 comes into contact with the claw 412 of the frame 121. As a result, the heat conductive portion 431 and the heat conductive portion 432 are formed, heat is conducted from the frame 121 to the cover 123, and the heat dissipation performance of the cover structure 120 is further improved.

[0143] Moreover, the elastic body 124 is provided inside the frame 121 with respect to the contact portion where the protrusion 421 of the cover 123 and the hole 411 of the frame 121 come into contact. When the elastic body 124 is compressed and deformed, the elastic body 124 is less likely to protrude outward from between the frame 121 and the cover 123, and the aesthetic appearance of the cover structure 120, i.e., the robot 100 (robot arm 101), is not marred.

[0144] With cover 123 attached to frame 121, elastic body 124 is sandwiched between frame 121 and cover 123 and is compressed and deformed. The gap between frame 121 and cover 123 is filled and sealed with elastic body 124. An expanding restoring force is generated in elastic body 124, and the restoring force of elastic body 124 forms heat conductive parts 431, 432 where frame 121 and cover 123 are pressed together.

[0145] The procedure for assembling the cover structure 120 according to the second embodiment is substantially similar to the procedure for assembling the cover structure 30 according to the first embodiment, and therefore a description thereof will be omitted. After attaching the cover 123 to the frame 121, a worker fastens the frame 121 and the cover 123 with screws 127, which are an example of a fastening member. The fastening points of the screws 127 are positions in the circumferential direction of the cover 20 that avoid the protrusions 421 and the claws 422.

[0146] A portion with improved heat dissipation is formed in cover structure 120 by flexing cover 123 and firmly attaching a portion of cover 123 and a portion of frame 121 with screws 127. Also, a portion with improved heat dissipation and improved sealing performance by elastic body 124 is formed in cover structure 120 by engaging protrusion 421 of cover 123 and hole 411 of frame 121 with claw 422 of cover 123 and claw 412 of frame 121 with the elastic force of elastic body 124. That is, in areas close to heat generating elements such as motor 171, heat dissipation is improved by the screw fastening structure, and sealing performance is improved by elastic body 124 in other areas. In addition, by fixing cover 123 to frame 121 by flexibly deforming cover 123 using the engagement structure and screw fastening structure, an axial force is applied to screws 127 by the reaction force generated in cover 123, thereby reducing loosening or falling off of screws 127 due to vibration.

[0147] The mechanism by which elastic body 124 absorbs an external force (impact force) acting on cover 123 will be described. When an external force is applied to cover 123, elastic body 124 contracts to absorb the external force. In other words, frame 121 and cover 123 are flexibly connected via elastic body 124. As a result, when cover structure 120 collides with a nearby device or person, elastic body 124 absorbs the impact, and damage to robot 100 can be reduced.

[0148] As described above, according to the second embodiment, when cover 123 is attached to frame 121, elastic body 124 seals the gap between frame 121 and cover 123, thereby reducing the amount of dust escaping from the internal space surrounded by frame 121 and cover 123 to the outside or the amount of dust entering the internal space from the outside, and the elastic force of elastic body 124 brings frame 121 and cover 123 into direct contact, thereby effectively dissipating heat conducted to frame 121.

[0149] The cover structure 120 may be screw-free. By making the cover structure 120 screw-free, the screws will not fall off due to vibrations caused by the movement of the robot 100, and the vibration resistance of the robot 100 will be improved.

[0150] Note that the second embodiment or the modified example of the second embodiment may be combined with at least one of the first embodiment and the modified example of the first embodiment.

[0151] The present disclosure is not limited to the above-described embodiments, and the embodiments can be modified in many ways 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 favorable 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.

[0152] In the above embodiment, the robot is 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 movements such as expansion and contraction, bending and stretching, vertical movement, horizontal movement, or rotation, or a combination of these movements, based on information in a storage device provided in a control device.

[0153] (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.

[0154] The disclosure of the above embodiments includes the following sections.

[0155] (Section 1) A robot, a frame having a first portion; a cover having a second portion and attached to the frame; An elastic body that is elastically deformable, When the cover is attached to the frame, the elastic body is sandwiched between the cover and the frame in the elastically deformed state, and the second portion of the cover contacts the first portion of the frame. A robot characterized by:

[0156] (Section 2) the elastic body causes the second portion of the cover to contact the first portion of the frame by an elastic force caused by the elastic deformation when the cover is attached to the frame, 2. The robot according to item 1, characterized in that

[0157] (Section 3) The cover is attached to the frame so as to cover the opening of the frame. 3. The robot according to item 1 or 2,

[0158] (Section 4) Wiring is arranged inside the frame. 4. The robot according to any one of items 1 to 3.

[0159] (Section 5) a link supported on the frame so as to be rotatable relative to the frame; 5. The robot according to any one of items 1 to 4.

[0160] (Section 6) a drive mechanism disposed inside the link and configured to drive the link; Item 6. The robot according to item 5, characterized in that:

[0161] (Section 7) The frame supports the link in a double-supported structure. 7. The robot according to item 5 or 6,

[0162] (Section 8) The elastic body is disposed at a position along an outer periphery of the cover when the cover is attached to the frame. 8. The robot according to any one of items 1 to 7,

[0163] (Section 9) The elastic body seals a gap between the cover and the frame when the cover is attached to the frame. 9. The robot according to any one of items 1 to 8,

[0164] (Section 10) The frame has a plurality of the first portions, The cover has a plurality of the second portions corresponding to the plurality of first portions, 10. The robot according to any one of items 1 to 9,

[0165] (Section 11) one of the first portion and the second portion is a hole portion defining a hole; The other of the first part and the second part is a protrusion that is inserted into the hole. 11. The robot according to any one of items 1 to 10,

[0166] (Section 12) The first portion is a first claw portion, The second portion is a second claw portion that is hooked onto the first claw portion. 11. The robot according to any one of items 1 to 10,

[0167] (Section 13) The plurality of first portions include a hole portion defining a hole and a first claw portion, The second portions include a protrusion portion inserted into the hole and a second claw portion hooked onto the first claw portion. Item 11. The robot according to item 10.

[0168] (Section 14) The elastic body includes an elastomer. Item 14. The robot according to any one of items 1 to 13,

[0169] (Section 15) The elastic body has a closed cell structure. Item 15. The robot according to item 14, characterized in that

[0170] (Section 16) The elastic body has an open cell structure. Item 15. The robot according to item 14, characterized in that

[0171] (Section 17) The elastic deformation is a deformation due to compression. 17. The robot according to any one of items 1 to 16,

[0172] (Section 18) The elastic body is attached to one of the frame and the cover. Item 18. The robot according to item 17, characterized in that:

[0173] (Section 19) The elastic deformation is a deformation due to tension. 17. The robot according to any one of items 1 to 16,

[0174] (Section 20) The elastic body is attached to both the frame and the cover. 20. The robot according to item 19, characterized in that:

[0175] (Section 21) The frame comprises a metal. 21. The robot according to any one of items 1 to 20,

[0176] (Section 22) The cover comprises a metal. 22. The robot according to any one of items 1 to 21,

[0177] (Section 23) The metal of the cover includes a non-ferrous metal. 23. The robot according to item 22, characterized in that

[0178] (Section 24) Further, a fastening member is provided for fastening the frame and the cover. 24. The robot according to any one of items 1 to 23,

[0179] (Section 25) The elastic body is provided on the inner side of the frame relative to a contact portion where the second portion of the cover and the first portion of the frame contact each other. 25. The robot according to any one of items 1 to 24,

[0180] (Section 26) A cover structure, a frame having a first portion; a cover having a second portion and removably attached to the frame; An elastic body that is elastically deformable, When the cover is attached to the frame, the elastic body is sandwiched between the cover and the frame in the elastically deformed state, and the second portion of the cover contacts the first portion of the frame. A cover structure characterized by:

[0181] (Section 27) Item 26. A control method for controlling a robot according to any one of items 1 to 25.

[0182] (Section 28) Item 26. A method for manufacturing an article, comprising the steps of: manufacturing an article by using the robot according to any one of items 1 to 25.

[0183] (Section 29) Item 28. A program for causing a computer to execute the control method according to item 27.

[0184] (Section 30) 30. A computer-readable recording medium having the program according to item 29 recorded thereon. [Explanation of symbols]

[0185] 10...frame, 11...hole portion (first part), 12...claw portion (first part), 20...cover, 21...projection portion (second part), 22...claw portion (second part), 30...cover structure, 40...elastic body, 100...robot, 120...cover structure, 121...frame, 123...cover, 124...elastic body, 411...hole portion (first part), 412...claw portion (first part), 421...projection portion (second part), 422...claw portion (second part)

Claims

1. A robot, a frame having a first portion; a cover having a second portion and attached to the frame; An elastic body that is elastically deformable, When the cover is attached to the frame, the elastic body is sandwiched between the cover and the frame in the elastically deformed state, and the second portion of the cover contacts the first portion of the frame. A robot characterized by:

2. the elastic body causes the second portion of the cover to contact the first portion of the frame by an elastic force caused by the elastic deformation in a state in which the cover is attached to the frame, 2. The robot according to claim 1 .

3. The cover is attached to the frame so as to cover the opening of the frame.

2. The robot according to claim 1 .

4. Wiring is arranged inside the frame.

2. The robot according to claim 1 .

5. a link supported on the frame so as to be rotatable relative to the frame; 2. The robot according to claim 1 .

6. a drive mechanism disposed inside the link and configured to drive the link; 6. The robot according to claim 5.

7. The frame supports the link in a double-supported structure.

6. The robot according to claim 5.

8. The elastic body is disposed at a position along an outer periphery of the cover when the cover is attached to the frame.

2. The robot according to claim 1 .

9. The elastic body seals a gap between the cover and the frame when the cover is attached to the frame.

2. The robot according to claim 1 .

10. The frame has a plurality of the first portions, The cover has a plurality of second portions corresponding to the plurality of first portions, 2. The robot according to claim 1 .

11. one of the first portion and the second portion is a hole portion defining a hole; The other of the first portion and the second portion is a protrusion portion that is inserted into the hole.

2. The robot according to claim 1 .

12. The first portion is a first claw portion, The second portion is a second claw portion that is hooked onto the first claw portion.

2. The robot according to claim 1 .

13. The plurality of first portions include a hole portion defining a hole and a first claw portion, The second portions include a protrusion portion inserted into the hole and a second claw portion hooked onto the first claw portion. The robot according to claim 10 .

14. The elastic body includes an elastomer.

2. The robot according to claim 1 .

15. The elastic body has a closed cell structure.

15. The robot according to claim 14.

16. The elastic body has an open cell structure.

15. The robot according to claim 14.

17. The elastic deformation is a deformation due to compression.

2. The robot according to claim 1 .

18. The elastic body is attached to one of the frame and the cover.

18. The robot according to claim 17 .

19. The elastic deformation is a deformation due to tension.

2. The robot according to claim 1 .

20. The elastic body is attached to both the frame and the cover.

20. The robot according to claim 19 .

21. The frame comprises a metal.

2. The robot according to claim 1 .

22. The cover comprises a metal.

2. The robot according to claim 1 .

23. The metal of the cover includes a non-ferrous metal.

23. The robot according to claim 22.

24. Further, a fastening member is provided for fastening the frame and the cover.

2. The robot according to claim 1 .

25. the elastic body is provided on the inner side of the frame with respect to a contact portion where the second portion of the cover and the first portion of the frame come into contact with each other; 2. The robot according to claim 1 .

26. A cover structure, a frame having a first portion; a cover having a second portion and attached to the frame; An elastic body that is elastically deformable, When the cover is attached to the frame, the elastic body is sandwiched between the cover and the frame in the elastically deformed state, and the second portion of the cover contacts the first portion of the frame. A cover structure characterized by:

27. A control method for controlling a robot according to any one of claims 1 to 25.

28. A method for manufacturing an article, comprising the steps of: manufacturing an article by using the robot according to any one of claims 1 to 25;

29. A program for causing a computer to execute the control method according to claim 27.

30. A computer-readable recording medium having the program according to claim 29 recorded thereon.

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