Robot, robot control method, program, recording medium, article manufacturing method, driving device, and driving device control method

Abstract

To provide a desired technique that can properly discharge heat of a motor and of a motor control device which are heating elements to enable a robot to stably operate, even if the motor and the motor control device are installed comparatively close to the inside of a housing of the robot.SOLUTION: A robot is provided with: a first link and a second link; a motor that displaces the second link with respect to the first link; a motor control part that controls the motor; a first heat discharging member; a second heat discharging member; a first heat conduction member connecting the motor control part to the first heat discharging member; and a second heat conduction member connecting the motor to the second heat discharging member. The first heat conduction member is arranged away from the second heat conduction member, and the first heat radiation member is arranged away from the second heat discharging member.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to heat dissipation in robots and the like. [Background technology]

[0002] In recent years, the uses of robots have expanded, and the applications of articulated robots, for example, have expanded to fields that require various operations, such as collaborative work with humans and assembly work in factories. In such robots, a control system may be used in which a robot controller and a motor control device are connected by a communication line or the like, and the motor control device controls the motor in response to a control command transmitted from the robot controller.

[0003] Generally, in such robots, an inverter circuit in the motor control device converts a direct current supplied from a power supply unit into an alternating current, and this alternating current drives the AC motors provided at each joint. When driving the AC motor, not only does the AC motor itself generate heat, but a large current flows in the inverter circuit according to the load on the joint, causing the circuit in the motor control device to generate heat.

[0004] Patent Document 1 describes a configuration in which a board on which a drive circuit for driving an AC motor is mounted is brought into surface contact with a housing of the robot arm.

[0005] Patent document 2 describes a method for dissipating heat from heat-generating components inside a robot's housing, in which the heat-generating components are fixed to a single thermally conductive bracket and two heat sinks are brought into contact with the bracket to dissipate heat through two heat dissipation paths. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2020-25999 A [Patent Document 2] Special Publication No. 2022-521440 Summary of the Invention [Problem to be solved by the invention]

[0007] In the joints of a robot, a motor and a motor control device, both of which are heat generating elements, are installed relatively close to each other in a small space inside the housing. Conventionally proposed heat dissipation methods have considered the heat dissipation path from one heat generating element, but have not fully considered the heat dissipation method from two heat generating elements installed relatively close to each other, such as a motor and a motor control device.

[0008] Motors and motor control devices, both of which are heat generating bodies, often do not have the same heat resistance, and generally have different maximum allowable temperatures. In particular, if the temperature of a motor control device rises excessively, the electric circuit in the control device may malfunction, making it impossible to drive and control the motor normally, causing the robot to malfunction. For example, if the motor control device malfunctions and positive feedback is applied to the drive control of the motor, in the worst case scenario, the motor may run out of control, destroying the robot itself or surrounding objects.

[0009] Therefore, there was a need for technology that could properly dissipate heat from the motor and motor control device, both of which are heat-generating elements, even if they were installed relatively close to each other inside the robot's housing. [Means for solving the problem]

[0010] A first aspect of the present invention is a robot comprising a first link and a second link, a motor that displaces the second link relative to the first link, a motor control unit that controls the motor, a first heat dissipation member, a second heat dissipation member, a first heat conduction member that connects the motor control unit and the first heat dissipation member, and a second heat conduction member that connects the motor and the second heat dissipation member, wherein the first heat conduction member and the second heat conduction member are spaced apart, and the first heat dissipation member and the second heat dissipation member are spaced apart.

[0011] In addition, a second aspect of the present invention is a drive device comprising a first link, a second link, a motor that displaces the second link relative to the first link, a motor control unit that controls the motor, a first heat dissipation member, a second heat dissipation member, a first heat conduction member that connects the motor control unit and the first heat dissipation member, and a second heat conduction member that connects the motor and the second heat dissipation member, wherein the first heat conduction member and the second heat conduction member are spaced apart, and the first heat dissipation member and the second heat dissipation member are spaced apart. Effect of the Invention

[0012] According to the present invention, even if the motor and motor control device, both of which are heat generating elements, are installed relatively close to each other inside the robot's housing, the heat from the motor and motor control device can be dissipated appropriately. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a schematic diagram showing a schematic configuration of a robot in which a joint mechanism according to an embodiment is implemented. [Diagram 2] FIG. 2 is a schematic diagram for explaining the configuration of a robot arm provided in the robot. [Diagram 3] FIG. 2 is a schematic block diagram showing the configuration of a control system of the robot. [Figure 4] FIG. 2 is a cross-sectional view for explaining the internal structure of the joint mechanism according to the first embodiment. [Diagram 5] FIG. 13 is an external perspective view of a joint mechanism according to a modified example of the first embodiment. [Figure 6] FIG. 4 is a cross-sectional view for explaining the internal structure of a joint according to a modified example of the first embodiment. [Figure 7] FIG. 11 is a cross-sectional view for explaining the internal structure of a joint mechanism according to a second embodiment. [Figure 8] FIG. 11 is a cross-sectional view for explaining the internal structure of a joint according to Modification 1 of Embodiment 2. [Figure 9] FIG. 13 is a cross-sectional view for explaining the internal structure of a joint according to Modification 2 of Embodiment 2. [Figure 10]FIG. 11 is a cross-sectional view for explaining the internal structure of a joint mechanism according to a third embodiment. [Figure 11] FIG. 11 is a cross-sectional view for explaining the internal structure of a joint mechanism according to a fourth embodiment. [Figure 12] FIG. 13 is a cross-sectional view for explaining the internal structure of a joint mechanism according to a fifth embodiment. [Figure 13] FIG. 13 is a cross-sectional view for explaining the internal structure of a joint mechanism according to a sixth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] The following describes an embodiment of the present invention, such as a joint mechanism, a robot, etc., with reference to the drawings. Note that the embodiment described below is merely an example, and those skilled in the art may appropriately modify the detailed configuration without departing from the spirit and scope of the present invention.

[0015] In the drawings referred to in the following description of the embodiments, elements denoted by the same reference numerals have the same functions unless otherwise noted. When a plurality of identical elements are arranged in a drawing, the reference numerals and their descriptions may be omitted.

[0016] In addition, since the drawings may be represented diagrammatically for the convenience of illustration and explanation, the shape, size, arrangement, etc. of the elements depicted in the drawings may not strictly correspond to the actual objects.

[0017] First, an example of a robot in which a joint mechanism having a heat dissipation structure according to an embodiment is implemented will be described, and then the joint mechanism having a heat dissipation structure will be described in detail.

[0018] [robot] Fig. 1 is a schematic diagram showing a general configuration of a robot 100 according to an embodiment. A joint mechanism having a heat dissipation structure according to an embodiment is mounted on the robot 100. Fig. 2 is a schematic diagram illustrating the configuration of a robot arm 200 included in the robot 100.

[0019] 1 and 2 includes a robot arm 200 as an articulated robot, and a robot control device 300 that controls the robot arm 200. The robot 100 also includes a teaching pendant 400 as a teaching device that transmits data of a plurality of teaching points to the robot control device 300. The teaching pendant 400 is operated by an operator and is used to specify the operations of the robot arm 200 and the robot control device 300.

[0020] The illustrated robot arm 200 is a six-axis controlled articulated robot. The robot arm 200 includes links 201 to 206, which are connected via joints 221 to 226. The joint 221 on the most proximal end side is fixed to the housing 200a of the base. The joints 221 to 226 include built-in electric motors 211 to 216 for rotating (displacing) the links around the rotation axes A1 to A6. The electric motors 211 to 216 may be, for example, servo motors equipped with encoders.

[0021] The joints 221 to 226 have motor control devices 241 to 246 as drive control units that drive and control the electric motors 211 to 216. The motor control devices 241 to 246 output drive currents for controlling the electric motors 211 to 216, and control the operations of the electric motors 211 to 216 independently.

[0022] The joints 221 to 226 are equipped with reducers (not shown) connected to the electric motors 211 to 216, and the output sections of the reducers are connected to the links on the output side (end side) that they drive. The joints 221 to 226 are equipped with angle sensors (not shown) that detect the angles of the output links, and torque sensors (not shown) that detect the torque that drives the output links.

[0023] An end effector (not shown) for performing a predetermined task can be attached to the tip of the link 206 of the robot arm 200. The end effector is selected depending on the task performed by the robot 100, and when performing assembly tasks or movement tasks on a production line, for example, an end effector such as a live electric hand or a pneumatically driven air hand is connected.

[0024] The teaching pendant 400 as an external input device is provided with an operation section including operation keys for teaching, for example, the posture (position and angle) of the joints of the robot arm 200 or the movement of the hand of the robot arm 200. When some operation is performed on the operation section of the teaching pendant 400, the robot control device 300 transmits signals to the motor control devices 241 to 246 arranged at the respective joints in response to the operation, thereby controlling the operation of the robot arm 200.

[0025] With the above configuration, each link and / or end effector can be moved to an arbitrary position by the robot arm 200, and the robot can perform a desired task. For example, a predetermined workpiece and another workpiece can be used as materials, and a process of assembling the predetermined workpiece and the other workpiece can be performed to manufacture an assembled workpiece as a result. In this way, an article can be manufactured by the robot arm 200. Note that the manufacturing task of an article performed using the robot arm 200 is not limited to this. For example, the robot arm 200 can be provided with tools such as cutting tools and polishing tools, and an article can be manufactured by processing a workpiece.

[0026] Next, the control system of the robot 100 will be described. Fig. 3 is a schematic block diagram showing the configuration of the control system of the robot 100. The robot control device 300 is configured as a computer, and includes a CPU 301 (Central Processing Unit). As a storage unit, the robot control device 300 includes a ROM 302 (Read Only Memory), a RAM 303 (Random Access Memory), a HDD 304 (Hard Disc Drive), and a recording disc drive 305. The robot control device 300 also includes interfaces 306 to 309 for communicating with each device. The CPU 301, ROM 302, RAM 303, and interfaces 306 to 309 are connected by a bus 310 so as to be able to communicate with each other.

[0027] Of these, the RAM 303 is used for temporary storage of data such as teaching points and control commands input by operating the teaching pendant 400. The ROM 302 stores a basic program 330 such as a BIOS for causing the CPU 301 to execute various arithmetic processing. The CPU 301 executes various arithmetic processing based on a control program recorded (stored) in the HDD 304. The HDD 304 can store various data and the like that are the results of the arithmetic processing of the CPU 301. The recording disk drive 305 can read out various data and control programs recorded in a recording disk 331. Furthermore, a monitor 321 on which various images are displayed and an external storage device 322 such as a rewritable nonvolatile memory or an external HDD are connected to the interfaces 307 and 308.

[0028] The teaching pendant 400 serving as an external input device may be another computer device (PC or server) capable of editing a robot program. The teaching pendant 400 serving as an external input device can be connected to the robot control device 300 via a wired or wireless communication connection means, and has a user interface function for operating the robot and displaying its status. The target joint angles of each joint input by the teaching pendant 400 are output to the CPU 301 via the interface 306 and the bus 310.

[0029] The CPU 301 receives teaching point data inputted, for example, from the teaching pendant 400 via the interface 306. Also, based on the teaching point data inputted from the teaching pendant 400, it can generate trajectories for each axis of the robot arm 200 and transmit them to the motor control devices 241 to 246 via the interface 309. The CPU 301 outputs drive command data indicating the control amount of the rotation angle of the motor of each joint to the motor control devices 241 to 246 via the bus 310 and the interface 309 at predetermined intervals.

[0030] Based on the drive command received from the CPU 301, the motor control devices 241 to 246 calculate the amount of current output to the electric motor of each joint, and supply current to each electric motor to control the joint angle of each joint.

[0031] Furthermore, the CPU 301 acquires detection signals from angle sensors (not shown) that detect the angles of output links driven by each joint, and from torque sensors that detect the drive torque of the output links, via an interface (not shown) and bus 310 (not shown). The CPU 301 sends commands to the motor control devices 241 to 246 and feedback controls the electric motors 211 to 216 so that the current values ​​of the joint angles of the joints detected by each encoder become the target joint angles. Alternatively, the CPU 301 sends commands to the motor control devices 241 to 246 and feedback controls the electric motors 211 to 216 so that the torques detected by each torque sensor become the target torques.

[0032] When, for example, a robot hand is attached as an end effector, robot control device 300 can send a control signal to a motor control device (hand motor driver) for a motor that drives the hand via an interface (not shown). The hand motor driver calculates the amount of current output to the hand motor based on a drive command received from CPU 301, and supplies current to the hand motor to control the operation of the hand motor. CPU 301 also acquires a pulse signal from the encoder of the hand motor via the interface and bus. That is, CPU 301 feedback-controls the hand motor via the hand motor driver so that the current value of the hand motor speed detected by the encoder becomes the target speed.

[0033] The robot according to the embodiment in which the joint mechanism having the heat dissipation structure according to the present invention is implemented has been described above by way of example. Next, a plurality of examples of the joint mechanism having the heat dissipation structure according to the embodiment will be described.

[0034] [Embodiment 1] 4 is a cross-sectional view for explaining the internal structure of a joint mechanism, which is a joint 221. As shown in FIG. 2, the joint 221 is the joint on the most proximal end side, and connects a housing 200a at the base of the robot arm 200 and a link 201 through the joint 221.

[0035] The joint 221 supports the link 201 and the housing 200a at both ends with two bearings so that the link 201 can rotate around the rotation axis A1. The joint 221 includes an electric motor 211 (e.g., a servo motor), a reducer 2002, a brake 2003, and a motor control device 241 (motor control unit), which are arranged in a space surrounded by a cover 251 and a cover 231. That is, in the internal space of the joint 221, the electric motor 211 and the motor control device 241, which are heat generating elements illustrated surrounded by a dotted line, are arranged relatively close to each other. The electric motor 211 is provided with an encoder EN that detects its rotation.

[0036] The motor control device 241 is fixed to the housing 200a via a fixing bracket 281, and includes a board SUB1 on which an electric circuit (control circuit) for controlling the driving of the electric motor 211 is mounted.

[0037] The base housing 200a is provided with an opening through which the motor control device 241 can be detached, and a removable cover 251 is attached to the housing 200a so as to cover the opening. The base housing 200a is also provided with openings through which the electric motor 211, the reducer 2002, and the brake 2003 can be detached, and a removable cover 231 is attached to the housing 200a so as to cover the opening.

[0038] The electric motor 211 and the motor control device 241, which are heat generating elements, require heat dissipation means. As described below, this embodiment is characterized by the configuration of the heat dissipation paths of the electric motor 211 and the motor control device 241.

[0039] Since the electric motor 211 works to rotate the robot arm on the tip side of the link 201, when the load is large a large amount of heat is generated and a large amount of heat is discharged to the heat dissipation path of the electric motor 211.

[0040] On the other hand, if the temperature of the motor control device 241 rises excessively, the electric circuit (control circuit) will malfunction and the electric motor 211 will no longer be able to be driven and controlled normally, so the heat dissipation means of the motor control device 241 is required to be able to dissipate heat stably.

[0041] Generally, heat dissipation paths are constructed of materials with good thermal conductivity. However, for example, if the materials of the heat dissipation path of the motor control device 241 and the heat dissipation path of the electric motor 211 are in contact with each other, or if the heat dissipation paths are constructed sharing the same materials, thermal conduction will occur between the heat dissipation paths.

[0042] If a configuration is adopted in which heat conduction is likely to occur between the heat dissipation path of the motor control device 241 and the heat dissipation path of the electric motor 211, the heat dissipation function of the motor control device 241 may be affected by heat dissipation from the electric motor 211. When a large amount of heat is discharged from the electric motor 211 to the heat dissipation path and the temperature of the members constituting the heat dissipation path rises, the amount of heat discharged from the heat dissipation path of the motor control device 241 decreases, and in some cases, part of the heat generated by the electric motor 211 is conducted to the motor control device 241 side. This reduces the heat dissipation function of the motor control device 241, causing the temperature of the motor control device 241 to rise, increasing the possibility of the electric circuit (control circuit) malfunctioning.

[0043] In this embodiment, the heat dissipation paths of the motor control device 241 and the electric motor 211 are configured separately using materials with good thermal conductivity, making it difficult for heat conduction to occur between the heat dissipation paths.

[0044] That is, the board SUB1 on which the electric circuit (control circuit) in the motor control device 241 is mounted is connected to the cover 251 (first heat dissipation member) via a heat conductive member 271 (first heat conductive member) as a first heat dissipation path. Heat generated in the electric circuit (control circuit) of the board SUB1 is dissipated from the cover 251 to the atmosphere. In order to bring the board SUB1 and the heat conductive member 271 into contact over a wide area without shorting the electric circuit (control circuit) in the board SUB1, it is preferable to arrange the board SUB1 and the heat conductive member 271 with a heat conductive sheet sandwiched between them, which is electrically insulating but transmits heat well.

[0045] Moreover, the electric motor 211 is connected to the cover 231 (second heat dissipation member) via a heat conductive member 261 (second heat conductive member) as a second heat dissipation path. Heat generated by the electric motor 211 is dissipated to the atmosphere from the cover 231. For example, it is preferable to connect the stator side housing (exterior member) of the electric motor 211 and the heat conductive member 261 over a wide area.

[0046] The base casing 200a, the housing of the electric motor 211, the heat conductive member 261, the heat conductive member 271, the fixing bracket 281, the cover 231, and the cover 251 may be made of, for example, a lightweight aluminum alloy, but are not limited to this. They may also be made of other metals, such as magnesium alloys and ferroalloys. The heat conductive member 261 and the heat conductive member 271 may be made of a metal member with high thermal conductivity, such as copper, or a polymeric material.

[0047] As described above, in this embodiment, the heat conduction member 271 of the first heat dissipation path and the heat conduction member 261 of the second heat dissipation path are separate members arranged at a distance from each other, so that heat generated by the electric motor 211 is not directly conducted from the second heat dissipation path to the first heat dissipation path.

[0048] Furthermore, it is preferable to adopt a configuration that suppresses the heat conducted from the electric motor 211 to the cover 231 via the thermally conductive member 261 from being transmitted to the motor control device 241 via the base housing 200a. Specifically, the fixed bracket 281 can be made of a material with low thermal conductivity (e.g., a resin material). Alternatively, for example, a metal material is used for the fixed bracket 281, but a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the fixed bracket 281 and the base housing 200a to suppress the heat conduction from the base housing 200a to the fixed bracket 281. Alternatively, for example, a metal material is used for the fixed bracket 281, but a resin member or a ceramic member with low thermal conductivity may be interposed between the fixed bracket 281 and the motor control device 241.

[0049] In addition, a resin or ceramic member with low thermal conductivity may be interposed at the connection between cover 231 and base housing 200a, and a resin or ceramic member with low thermal conductivity may be interposed at the connection between cover 251 and base housing 200a.

[0050] In this embodiment, the cover 251, which is a removable outer cover arranged at a position not intersecting the rotation axis A1 of the joint, is set as the first heat dissipation section, and the removable cover 231 arranged in a direction intersecting the rotation axis A1 is set as the second heat dissipation section. The motor control device 241 and the first heat dissipation section are connected by a first heat dissipation path (heat conductive member 271), and the electric motor 211 and the second heat dissipation section are connected by a second heat dissipation path (heat conductive member 261).

[0051] In this way, the heat dissipation paths of the motor control device 241 and the electric motor 211 are configured separately, and a structure is created in which thermal conduction between the heat dissipation paths is unlikely to occur, thereby preventing the exhaust heat from the electric motor 211 from affecting the function of the motor control device 241. Therefore, according to this embodiment, even if the motor, which is a heat generating body, and the motor control device are installed relatively close to each other inside the robot's housing, the heat from the motor and the motor control device can be dissipated appropriately, allowing the robot to operate stably.

[0052] [Modification of the first embodiment] A modified example of the joint 221 according to the embodiment 1 will be described. Fig. 5 is an external perspective view of the joint 221 according to the modified example, and Fig. 6 is a cross-sectional view for explaining the internal structure of the joint 221 according to the modified example. Descriptions of elements and matters similar to those of the embodiment 1 will be simplified or omitted.

[0053] 4, in the modified example, the heat dissipation path of the motor control device 241 and the heat dissipation path of the electric motor 211 are configured separately, making it difficult for thermal conduction to occur between the heat dissipation paths. However, the modified example differs from the modified example in that it includes a heat pipe connected to the thermally conductive member, and an air-cooled fan that sends airflow to the heat pipe for cooling.

[0054] The substrate SUB1 of the motor control device 241 (motor control section) is disposed so as to be parallel to the rotation axis A1, and is connected to the housing 200a of the base portion via a fixed bracket 281. A heat insulating member 2004 is disposed between the fixed bracket 281 and the housing 200a.

[0055] An opening is provided on one side of the base housing 200a so that the board SUB1 of the motor control device 241 can be attached and detached, and the opening is covered with a removable cover 251A. The cover 251A has an opening that connects the internal space of the joint 221 with the external space, and an air-cooling fan 2006 is attached to the opening.

[0056] In this modification, a heat pipe 2008 is attached to a thermally conductive member 261 that is in surface contact with the housing of the electric motor 211, and a heat pipe 2007 is attached to a thermally conductive member 271 that is in surface contact with the board SUB1 of the motor control device 241. The heat pipe 2007 may be in contact with the board SUB1.

[0057] By driving the air-cooling fan 2006, it is possible to improve the heat dissipation efficiency by blowing outside air onto the heat pipes 2008 and 2007. The air-cooling fan 2006 may be driven in a direction such that the air in the vicinity of the heat pipes 2008 and 2007 is sucked out to the outside.

[0058] In this embodiment, a single cooling fan 2006 is used to blow air and cool the heat pipes 2008 and 2007, but an individual cooling fan may be provided for each heat pipe. Also, a configuration may be adopted in which an air-cooling fan is used to blow air directly to the first heat conductive member and / or the second heat conductive member without inducing heat through a heat pipe.

[0059] In this way, the heat dissipation paths of the motor control device 241 and the electric motor 211 are configured separately, and a structure is created in which thermal conduction between the heat dissipation paths is unlikely to occur, thereby preventing the exhaust heat from the electric motor 211 from affecting the function of the motor control device 241. Furthermore, in this modified example, an air-cooling fan is provided to improve the efficiency of heat dissipation from the heat dissipation paths. Therefore, even in this modified example, even if the motor and motor control device, which are heat generating bodies, are installed relatively close to each other inside the robot's housing, the heat from the motor and the motor control device is dissipated appropriately, and the robot can operate stably.

[0060] [Embodiment 2] 7 is a cross-sectional view for explaining the internal structure of the joint mechanism, which is a joint 222. The joint 222 is the second joint from the base end side as shown in FIG. 2, and connects the link 201 and the link 202 of the robot arm 200.

[0061] The joint 222 supports the link 201 and the link 202 at both ends with two bearings so that the link 202 can rotate about the rotation axis A2. The link 202 is connected to the output side of the reducer 2012 via a connecting member 2011, and by rotating the electric motor 212, the link 202 rotates about the rotation axis A2 relative to the link 201. The electric motor 212 is provided with an encoder EN that detects its rotation.

[0062] The joint 222 includes an electric motor 212 (e.g., a servo motor), a reducer 2012, a brake 2013, and a motor control device 242, which are arranged in a space surrounded by covers 252 and 232. That is, in the internal space of the joint 222, the electric motor 212 and the motor control device 242, which are heat generating elements illustrated surrounded by a dotted line, are arranged relatively close to each other.

[0063] The motor control device 242 (motor control section) is fixed to the link 201 via a fixing bracket 282, and includes a board SUB2 on which an electric circuit (control circuit) for controlling the driving of the electric motor 212 is mounted.

[0064] The electric motor 212 and motor control device 242, which are heat generating elements, require heat dissipation means. As described below, this embodiment is characterized by the configuration of the heat dissipation paths of the electric motor 212 and motor control device 242.

[0065] Since the electric motor 212 rotates the robot arm on the tip side of the link 202, a large amount of heat is generated when the load is large, and a large amount of heat is discharged to the heat dissipation path of the electric motor 212.

[0066] On the other hand, if the temperature of the motor control device 242 rises excessively, the electric circuit (control circuit) will malfunction and the motor control device 242 will be unable to normally drive and control the electric motor 212, so the heat dissipation means of the motor control device 242 is required to be able to stably dissipate heat.

[0067] Generally, heat dissipation paths are constructed of materials with good thermal conductivity. However, for example, if the materials of the heat dissipation path of the motor control device 242 and the heat dissipation path of the electric motor 212 are in contact with each other, or if the heat dissipation paths are constructed sharing the same materials, thermal conduction will occur between the heat dissipation paths.

[0068] If a configuration is adopted in which heat conduction is likely to occur between the heat dissipation path of the motor control device 242 and the heat dissipation path of the electric motor 212, the heat dissipation function of the motor control device 242 may be affected by heat dissipation from the electric motor 212. When a large amount of heat is discharged from the electric motor 212 to the heat dissipation path and the temperature of the members constituting the heat dissipation path rises, the amount of heat discharged from the heat dissipation path of the motor control device 242 decreases, and in some cases, part of the heat generated by the electric motor 212 is conducted to the motor control device 242 side. This reduces the heat dissipation function from the motor control device 242, causing the temperature of the motor control device 242 to rise, increasing the possibility of the electric circuit (control circuit) malfunctioning.

[0069] In this embodiment, the heat dissipation paths of the motor control device 242 and the electric motor 212 are configured separately using materials with good thermal conductivity, making it difficult for heat conduction to occur between the heat dissipation paths.

[0070] That is, the board SUB2 on which the electric circuit (control circuit) in the motor control device 242 is mounted is connected to the cover 252 (first heat dissipation member) via a heat conductive member 272 (first heat conductive member) as a first heat dissipation path. Heat generated in the electric circuit (control circuit) of the board SUB2 is dissipated to the atmosphere from the cover 252. In order to bring the board SUB2 and the heat conductive member 272 into contact over a wide area without shorting the electric circuit (control circuit) in the board SUB2, it is preferable to arrange the board SUB2 and the heat conductive member 272 with a heat conductive sheet sandwiched between them, which is electrically insulating but transmits heat well.

[0071] Moreover, the electric motor 212 is connected to the cover 232 (second heat dissipation member) via a heat conductive member 262 (second heat conductive member) as a second heat dissipation path. Heat generated by the electric motor 212 is dissipated to the atmosphere from the cover 232. For example, it is preferable to connect the stator side housing (exterior member) of the electric motor 212 and the heat conductive member 262 over a wide area.

[0072] For the link 201, the housing of the electric motor 212, the heat conductive member 262, the heat conductive member 272, the fixing bracket 282, the cover 232, and the cover 252, for example, a member made of a lightweight aluminum alloy can be used, but is not limited to this. Members made of other metals, for example, magnesium alloys, ferroalloys, etc., may also be used. The heat conductive member 262 and the heat conductive member 272 may be a metal member having high thermal conductivity, such as copper, or a polymer material.

[0073] As described above, in this embodiment, the heat conduction member 272 of the first heat dissipation path and the heat conduction member 262 of the second heat dissipation path are separate members arranged at a distance from each other, so that heat generated by the electric motor 212 is not directly conducted from the second heat dissipation path to the first heat dissipation path.

[0074] Furthermore, it is preferable to adopt a configuration that suppresses the heat conducted from the electric motor 212 to the cover 232 via the heat conducting member 262 from being transmitted to the motor control device 242 via the link 201. Specifically, the fixed bracket 282 can be made of a material with low thermal conductivity (for example, a resin material). Alternatively, for example, a metal material is used for the fixed bracket 282, but a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the fixed bracket 282 and the link 201 to suppress the heat conduction from the link 201 to the fixed bracket 282. Alternatively, for example, a metal material is used for the fixed bracket 282, but a resin member or a ceramic member with low thermal conductivity may be interposed between the fixed bracket 282 and the motor control device 242. Also, a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the cover 232 and the link 201, or a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the cover 252 and the link 201.

[0075] In this embodiment, the cover 252 and the cover 232, which cover the side surface having the largest area in the external shape of the joint 222, are used as heat dissipation parts, thereby achieving high heat dissipation efficiency. The cover 252 and the cover 232 are disposed in positions facing each other with the link 201 or the link 202 in between. The cover 252, which is a removable outer cover disposed in a position intersecting the rotation axis A2 of the joint, is set as a first heat dissipation part, and the removable cover 232 disposed in a direction intersecting the rotation axis A2 is set as a second heat dissipation part. The motor control device 242 and the first heat dissipation part are connected by a first heat dissipation path (thermal conductive member 272), and the electric motor 212 and the second heat dissipation part are connected by a second heat dissipation path (thermal conductive member 262).

[0076] In this way, the heat dissipation paths of the motor control device 242 and the electric motor 212 are configured separately, and a structure is created in which thermal conduction between the heat dissipation paths is unlikely to occur, thereby preventing the exhaust heat from the electric motor 212 from affecting the function of the motor control device 242. Therefore, according to this embodiment, even if the motor, which is a heat generating body, and the motor control device are installed relatively close to each other inside the robot's housing, the heat from the motor and the motor control device can be dissipated appropriately, allowing the robot to operate stably.

[0077] [Modification 1 of the second embodiment] A first modification of the joint 222 according to the second embodiment will be described. Fig. 8 is a cross-sectional view for explaining the internal structure of the joint 222 according to the first modification. Descriptions of elements and matters similar to those of the second embodiment will be simplified or omitted.

[0078] 7, in the first modification, the heat dissipation path of the motor control device 242 (motor control unit) and the heat dissipation path of the electric motor 212 are configured separately to make it difficult for heat conduction to occur between the heat dissipation paths. However, in the first modification, the installation position of the motor control device 242 and the configuration of the heat dissipation path from the motor control device 242 are different from those in FIG.

[0079] In the first modification, the motor control device 242 is disposed on the left side of Fig. 8 so that the distance to the electric motor 212 is closer than in Fig. 7. By shortening the distance between the motor control device 242 and the electric motor 212, the length of the wiring installed to connect the motor control device 242 and the electric motor 212 can be shortened.

[0080] In the first modification, too, heat generated by the electric motor 212 is dissipated to the cover 232 via the heat conductive member 262 as the second heat dissipation path, but the first heat dissipation path that dissipates heat from the motor control device 242 is different. As shown in Fig. 8, when assembling the robot arm 200, an opening is provided in the link 201 to connect the link 201 and the link 202 via the drive unit, but after the connection, the opening is covered with the cover 252A.

[0081] In the first modification, the cover 252A, which does not intersect with the rotation axis A2, is used as a heat dissipation section in contact with the outside air to dissipate heat from the motor control device 242. That is, the substrate SUB2 of the motor control device 242 is connected to the cover 252A via a heat conduction member 272A that extends in a direction intersecting with the rotation axis A2.

[0082] Even in this modified example, the heat conduction member 272A of the first heat dissipation path and the heat conduction member 262 of the second heat dissipation path are separate members arranged at a distance from each other, so that heat generated by the electric motor 212 is not conducted directly from the second heat dissipation path to the first heat dissipation path.

[0083] Furthermore, it is preferable to adopt a configuration that suppresses the heat conducted from the electric motor 212 to the cover 232 via the heat conducting member 262 from being transmitted to the motor control device 242 via the link 201. Specifically, the fixing bracket 282A for fixing the motor control device 242 to the link 201 can be made of a material with low thermal conductivity (e.g., a resin material). Alternatively, for example, a metal material is used for the fixing bracket 282A, but a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the fixing bracket 282A and the link 201 to suppress the heat conduction from the link 201 to the fixing bracket 282. Alternatively, for example, a metal material is used for the fixing bracket 281A, but a resin member or a ceramic member with low thermal conductivity may be interposed between the fixing bracket 281A and the motor control device 242. In addition, a resin or ceramic member with low thermal conductivity may be interposed at the connection between cover 232 and link 201, or a resin or ceramic member with low thermal conductivity may be interposed at the connection between cover 252A and link 201.

[0084] In this way, the heat dissipation paths of the motor control device 242 and the electric motor 212 are configured separately, and a structure is created in which thermal conduction between the heat dissipation paths is unlikely to occur, thereby preventing the exhaust heat from the electric motor 212 from affecting the function of the motor control device 242. Therefore, even in this modified example, even if the motor, which is a heat generating body, and the motor control device are installed relatively close to each other inside the robot's housing, the heat from the motor and the motor control device is dissipated appropriately, allowing the robot to operate stably.

[0085] [Modification 2 of the second embodiment] A second modification of the joint 222 according to the second embodiment will be described. Fig. 9 is a cross-sectional view for explaining the internal structure of the joint 222 according to the second modification. Descriptions of elements and matters similar to those of the second embodiment will be simplified or omitted.

[0086] 7, in the second modification, the heat dissipation path of the motor control device 242 (motor control unit) and the heat dissipation path of the electric motor 212 are configured separately, making it difficult for thermal conduction to occur between the heat dissipation paths. However, in the second modification, the installation position of the motor control device 242 and the configuration of the heat dissipation path from the motor control device 242 are different from those in FIG.

[0087] In the second modification, the motor control device 242 is disposed on the left side of Fig. 9 so that the distance to the electric motor 212 is closer than in Fig. 7. By shortening the distance between the motor control device 242 and the electric motor 212, the length of the wiring laid to connect the motor control device 242 and the electric motor 212 can be shortened.

[0088] In the second modification, as shown in FIG. 9, the cover covering the left side surface of the joint 222 is not a single piece, but is composed of a cover 232A on the link 202 side and a cover 252B on the link 201 side, which are spaced apart. The gap between the cover 232A and the cover 252B may be filled with air, or a heat insulating member (not shown) may be disposed in part of the gap, or the cover 232A and the cover 252B may be connected by a heat insulating member (not shown). Resin, polymeric material, or the like may be used as the heat insulating member. In this way, the cover 232A and the cover 252B are structured such that heat is not easily conducted between each other.

[0089] In variant example 2, heat generated in electric motor 212 is dissipated to cover 232A via heat conductive member 262 as a second heat dissipation path, and heat generated in motor control device 242 is dissipated to cover 252B via heat conductive member 272B as a first heat dissipation path.

[0090] In the second modification, one side of the joint 222 is covered with two covers spaced apart from each other, i.e., a cover 252B on the input link side and a cover 232A on the output link side, and each is used as a heat dissipation section in contact with the outside air. The cover 232A that intersects with the rotation axis A2 is used to dissipate heat from the electric motor 212, and the cover 252B that does not intersect with the rotation axis A2 is used to dissipate heat from the motor control device 242. The substrate SUB2 of the motor control device 242 is connected to the cover 252B via a heat conductive member 272B that extends in a direction that does not intersect with the rotation axis A2.

[0091] Even in this modified example, the heat conduction member 272B of the first heat dissipation path and the heat conduction member 262 of the second heat dissipation path are separate members arranged at a distance from each other, so that heat generated by the electric motor 212 is not conducted directly from the second heat dissipation path to the first heat dissipation path.

[0092] Furthermore, it is preferable to adopt a configuration that suppresses the heat conducted from the electric motor 212 to the cover 232A via the heat conducting member 262 from being transmitted to the motor control device 242 via the link 201. Specifically, the fixing bracket 282B for fixing the motor control device 242 to the link 201 can be made of a material with low thermal conductivity (e.g., a resin material). Alternatively, for example, a metal material is used for the fixing bracket 282B, but a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the fixing bracket 282B and the link 201 to suppress the heat conduction from the link 201 to the fixing bracket 282B. Alternatively, for example, a metal material is used for the fixing bracket 282B, but a resin member or a ceramic member with low thermal conductivity may be interposed between the fixing bracket 282B and the motor control device 242. In addition, a resin or ceramic member with low thermal conductivity may be interposed at the connection between cover 232A and link 201, and a resin or ceramic member with low thermal conductivity may be interposed at the connection between cover 252B and link 201.

[0093] In this way, the heat dissipation paths of the motor control device 242 and the electric motor 212 are configured separately, and a structure is created in which thermal conduction between the heat dissipation paths is unlikely to occur, thereby preventing the exhaust heat from the electric motor 212 from affecting the function of the motor control device 242. Therefore, even in this modified example, even if the motor, which is a heat generating body, and the motor control device are installed relatively close to each other inside the robot's housing, the heat from the motor and the motor control device is dissipated appropriately, allowing the robot to operate stably.

[0094] [Embodiment 3] 10 is a cross-sectional view for explaining the internal structure of the joint mechanism, which is the joint 223. The joint 223 is the third joint from the base end side as shown in FIG. 2, and connects the link 202 and the link 203 of the robot arm 200.

[0095] The joint 223 supports the link 202 and the link 203 at both ends with two bearings so that the link 203 can rotate about the rotation axis A3. The link 203 is connected to the output side of the reducer 2022 via a connecting member 2021, and by rotating the electric motor 213, the link 203 rotates about the rotation axis A3 relative to the link 202. The electric motor 213 is provided with an encoder EN that detects the rotation.

[0096] The joint 223 includes an electric motor 213 (e.g., a servo motor), a reducer 2032, a brake 2023, and a motor control device 243, which are arranged in a space surrounded by covers 253 and 233. That is, in the internal space of the joint 223, the electric motor 213 and the motor control device 243, which are heat generating elements illustrated surrounded by a dotted line, are arranged relatively close to each other.

[0097] The motor control device 243 (motor control section) is fixed to the link 202 via a fixing bracket 283, and includes a board SUB3 on which an electric circuit (control circuit) for controlling the driving of the electric motor 213 is mounted.

[0098] The electric motor 213 and the motor control device 243, which are heat generating elements, require heat dissipation means. As described below, this embodiment is characterized by the configuration of the heat dissipation paths of the electric motor 213 and the motor control device 243.

[0099] Since the electric motor 213 rotates the robot arm on the tip side of the link 203, a large amount of heat is generated when the load is large, and a large amount of heat is discharged to the heat dissipation path of the electric motor 213.

[0100] On the other hand, if the temperature of the motor control device 243 rises excessively, the electric circuit (control circuit) will malfunction and the electric motor 213 will no longer be able to be driven and controlled normally, so the heat dissipation means of the motor control device 243 is required to be able to dissipate heat stably.

[0101] Generally, heat dissipation paths are constructed of materials with good thermal conductivity. However, for example, if the materials of the heat dissipation path of the motor control device 243 and the heat dissipation path of the electric motor 213 are in contact with each other, or if the heat dissipation paths are constructed sharing the same materials, thermal conduction will occur between the heat dissipation paths.

[0102] If a configuration is adopted in which heat conduction is likely to occur between the heat dissipation path of the motor control device 243 and the heat dissipation path of the electric motor 213, the heat dissipation function of the motor control device 243 may be affected by heat dissipation from the electric motor 213. When a large amount of heat is discharged from the electric motor 213 to the heat dissipation path and the temperature of the members constituting the heat dissipation path rises, the amount of heat exhausted from the heat dissipation path of the motor control device 243 decreases, and in some cases, part of the heat generated by the electric motor 213 is conducted to the motor control device 243 side. This reduces the heat dissipation function from the motor control device 243, causing the temperature of the motor control device 243 to rise, increasing the possibility of the electric circuit (control circuit) malfunctioning.

[0103] In this embodiment, the heat dissipation paths of the motor control device 243 and the electric motor 213 are configured separately using materials with good thermal conductivity, making it difficult for heat conduction to occur between the heat dissipation paths.

[0104] That is, the board SUB3 on which the electric circuit (control circuit) in the motor control device 243 is mounted is connected to the cover 253 (first heat dissipation member) via a heat conductive member 273 (first heat conductive member) as a first heat dissipation path. Heat generated in the electric circuit (control circuit) of the board SUB3 is dissipated to the atmosphere from the cover 253. In order to bring the board SUB3 and the heat conductive member 273 into contact over a wide area without shorting the electric circuit (control circuit) in the board SUB3, it is preferable to arrange the board SUB3 and the heat conductive member 273 with a heat conductive sheet sandwiched between them, which is electrically insulating but transmits heat well.

[0105] Moreover, the electric motor 213 is connected to the cover 232 (second heat dissipation member) via a heat conductive member 263 (second heat conductive member) as a second heat dissipation path. Heat generated by the electric motor 212 is dissipated to the atmosphere from the cover 233. For example, it is preferable to connect the stator side housing (exterior member) of the electric motor 213 and the heat conductive member 263 over a wide area.

[0106] For the link 202, the housing of the electric motor 213, the heat conductive member 263, the heat conductive member 273, the fixing bracket 283, the cover 233, and the cover 253, for example, a member made of a lightweight aluminum alloy can be used, but is not limited to this. Members made of other metals, for example, magnesium alloys, ferroalloys, etc., may also be used. The heat conductive member 263 and the heat conductive member 273 may be a metal member having high thermal conductivity, such as copper, or a polymer material.

[0107] As described above, in this embodiment, the heat conduction member 273 of the first heat dissipation path and the heat conduction member 263 of the second heat dissipation path are separate members arranged at a distance from each other, so that heat generated by the electric motor 213 is not conducted directly from the second heat dissipation path to the first heat dissipation path.

[0108] Furthermore, it is preferable to adopt a configuration that suppresses the heat conducted from the electric motor 212 to the cover 233 via the heat conducting member 262 from being transmitted to the motor control device 243 via the link 203. Specifically, the fixed bracket 283 can be made of a material with low thermal conductivity (for example, a resin material). Alternatively, for example, a metal material is used for the fixed bracket 283, but a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the fixed bracket 283 and the link 202 to suppress the heat conduction from the link 202 to the fixed bracket 283. Alternatively, for example, a metal material is used for the fixed bracket 283, but a resin member or a ceramic member with low thermal conductivity may be interposed between the fixed bracket 283 and the motor control device 243. Also, a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the cover 233 and the link 203, or a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the cover 253 and the link 202.

[0109] In this embodiment, the cover 253 and the cover 233, which cover the side having the largest area in the outer shape of the joint 223, are used as heat dissipation parts, thereby achieving high heat dissipation efficiency. The cover 253 and the cover 233 are arranged in positions facing each other with the link 202 or the link 203 in between. The cover 253, which is a removable outer cover arranged in a position intersecting the rotation axis A3 of the joint, is set as a first heat dissipation part, and the removable cover 233 arranged in a direction intersecting the rotation axis A3 is set as a second heat dissipation part. The motor control device 243 and the first heat dissipation part are connected by a first heat dissipation path (thermal conductive member 273), and the electric motor 213 and the second heat dissipation part are connected by a second heat dissipation path (thermal conductive member 263). In the second embodiment of FIG. 7, the main surface of the substrate SUB2 of the motor control device 242 is installed parallel to the base housing 200a, i.e., horizontally, but in this embodiment, the main surface of the substrate SUB3 is installed in a direction that intersects with the main surface of the cover 253.

[0110] In this way, the heat dissipation paths of the motor control device 243 and the electric motor 213 are configured separately, and a structure is created in which thermal conduction between the heat dissipation paths is unlikely to occur, thereby preventing the exhaust heat from the electric motor 213 from affecting the function of the motor control device 243. Therefore, according to this embodiment, even if the motor, which is a heat generating body, and the motor control device are installed relatively close to each other inside the robot housing, the heat from the motor and the motor control device can be dissipated appropriately, allowing the robot to operate stably.

[0111] [Embodiment 4] 11 is a cross-sectional view for explaining the internal structure of the joint mechanism, which is a joint 224. The joint 224 is the fourth joint from the base end side as shown in FIG. 2, and connects the link 203 and the link 204 of the robot arm 200.

[0112] Joint 224 supports link 203 and link 204 at both ends with two bearings so that link 204 can rotate around rotation axis A4. Note that rotation axis A3 in Fig. 10 and rotation axis A4 in Fig. 11 are disposed perpendicular to each other.

[0113] The joint 224 includes an electric motor 214 (e.g., a servo motor), a reducer 2032, a brake 2033, and a motor control device 244, which are arranged in a space surrounded by covers 254 and 234. That is, the electric motor 214 and the motor control device 244, which are heat generating elements illustrated by being surrounded by a dotted line, are arranged relatively close to each other in the internal space of the joint 224. The electric motor 214 is provided with an encoder EN that detects its rotation.

[0114] The motor control device 244 is fixed to the link 203 via a fixing bracket 284, and includes a board SUB4 on which an electric circuit (control circuit) for controlling the driving of the electric motor 214 is mounted.

[0115] An opening is provided on one side surface of the link 203 so that built-in parts such as the electric motor 214 and the motor control device 244 can be attached and detached. The opening portion for attaching and detaching the electric motor 214, the reducer 2032, and the brake 2033 is covered with a removable cover 234, and the opening portion for attaching and detaching the motor control device 244 is covered with a removable cover 254. The covers 234 and 254 are spaced apart. In other words, the covers 234 and 254 are structured so that heat is not easily transferred between them.

[0116] The electric motor 214 and motor control device 244, which are heat generating elements, require heat dissipation means. As described below, this embodiment is characterized by the configuration of the heat dissipation paths of the electric motor 214 and motor control device 244.

[0117] Since the electric motor 214 rotates the robot arm on the tip side of the link 204, a large amount of heat is generated when the load is large, and a large amount of heat is discharged to the heat dissipation path of the electric motor 214.

[0118] On the other hand, if the temperature of the motor control device 244 (motor control unit) rises excessively, the electric circuit (control circuit) will malfunction and the electric motor 214 will no longer be able to be driven and controlled normally, so the heat dissipation means of the motor control device 244 is required to be able to dissipate heat stably.

[0119] Generally, heat dissipation paths are constructed of materials with good thermal conductivity. However, for example, if the materials of the heat dissipation path of the motor control device 244 and the heat dissipation path of the electric motor 214 are in contact with each other, or if the heat dissipation paths are constructed sharing the same materials, thermal conduction will occur between the heat dissipation paths.

[0120] If a configuration is adopted in which heat conduction is likely to occur between the heat dissipation path of the motor control device 244 and the heat dissipation path of the electric motor 214, the heat dissipation function of the motor control device 244 may be affected by heat dissipation from the electric motor 214. When a large amount of heat is discharged from the electric motor 211 to the heat dissipation path and the temperature of the members constituting the heat dissipation path rises, the amount of heat exhausted from the heat dissipation path of the motor control device 244 decreases, and in some cases, part of the heat generated by the electric motor 214 is conducted to the motor control device 244 side. This reduces the heat dissipation function from the motor control device 244, causing the temperature of the motor control device 244 to rise, increasing the possibility of the electric circuit (control circuit) malfunctioning.

[0121] In this embodiment, the heat dissipation paths of the motor control device 244 and the electric motor 214 are configured separately using materials with good thermal conductivity, making it difficult for heat conduction to occur between the heat dissipation paths.

[0122] That is, the board SUB4 on which the electric circuit (control circuit) in the motor control device 244 is mounted is connected to the cover 254 (first heat dissipation member) via a heat conductive member 274 (first heat conductive member) as a first heat dissipation path. Heat generated in the electric circuit (control circuit) of the board SUB4 is dissipated to the atmosphere from the cover 254. In order to bring the board SUB4 and the heat conductive member 274 into contact over a wide area without shorting the electric circuit (control circuit) in the board SUB4, it is preferable to arrange the board SUB4 and the heat conductive member 274 with a heat conductive sheet sandwiched between them, which is electrically insulating but transmits heat well.

[0123] Moreover, the electric motor 214 is connected to the cover 234 (second heat dissipation member) via a heat conductive member 264 (second heat conductive member) serving as a second heat dissipation path. Heat generated by the electric motor 214 is dissipated to the atmosphere from the cover 234. For example, it is preferable to connect the stator side housing (exterior member) of the electric motor 214 and the heat conductive member 264 over a wide area.

[0124] The link 203, the housing of the electric motor 214, the heat conductive member 264, the heat conductive member 274, the fixing bracket 284, the cover 234, and the cover 254 may be made of, for example, a lightweight aluminum alloy, but are not limited to this. They may also be made of other metals, such as magnesium alloys and ferroalloys. The heat conductive member 264 and the heat conductive member 274 may also be metal members with high thermal conductivity, such as copper, or polymeric materials.

[0125] As described above, in this embodiment, the heat conduction member 274 of the first heat dissipation path and the heat conduction member 264 of the second heat dissipation path are separate members arranged at a distance from each other, so that heat generated by the electric motor 214 is not directly conducted from the second heat dissipation path to the first heat dissipation path.

[0126] Furthermore, it is preferable to adopt a configuration that suppresses the heat conducted from the electric motor 214 to the cover 234 via the heat conducting member 264 from being transmitted to the motor control device 244 via the link 203. Specifically, the fixed bracket 284 can be made of a material with low thermal conductivity (for example, a resin material). Alternatively, for example, a metal material is used for the fixed bracket 284, but a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the fixed bracket 284 and the link 203 to suppress the heat conduction from the link 203 to the fixed bracket 284. Alternatively, for example, a metal material is used for the fixed bracket 284, but a resin member or a ceramic member with low thermal conductivity may be interposed between the fixed bracket 284 and the motor control device 244. Also, a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the cover 234 and the link 203, or a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the cover 251 and the link 203.

[0127] In this embodiment, the cover 254, which is a removable outer cover arranged at a position not intersecting the rotation axis A4 of the joint, is set as the first heat dissipation section, and the removable cover 234 arranged in a direction not intersecting the rotation axis A4 is set as the second heat dissipation section. The motor control device 244 and the first heat dissipation section are connected by a first heat dissipation path (heat conductive member 274), and the electric motor 214 and the second heat dissipation section are connected by a second heat dissipation path (heat conductive member 264).

[0128] In this way, the heat dissipation paths of the motor control device 244 and the electric motor 214 are configured separately, and a structure is created in which thermal conduction between the heat dissipation paths is unlikely to occur, thereby preventing the exhaust heat from the electric motor 214 from affecting the function of the motor control device 244. Therefore, according to this embodiment, even if the motor, which is a heat generating body, and the motor control device are installed relatively close to each other inside the robot's housing, the heat from the motor and the motor control device can be dissipated appropriately, allowing the robot to operate stably.

[0129] [Embodiment 5] 12 is a cross-sectional view for explaining the internal structure of a joint mechanism, which is a joint 225. The joint 225 is the fifth joint from the base end side as shown in FIG. 2, and connects the link 204 and the link 205 of the robot arm 200.

[0130] The joint 225 supports the link 204 and the link 205 at both ends with two bearings so that the link 205 can rotate around the rotation axis A5. The link 205 is connected to the output side of the reducer 2042, and the link 205 rotates around the rotation axis A5 relative to the link 204 by rotating the electric motor 215. The electric motor 215 is provided with an encoder EN for detecting the rotation. The rotation axis A4 in FIG. 11 and the rotation axis A5 in FIG. 12 are disposed so as to be perpendicular to each other. In order to connect the link 204 and the link 205 via the drive unit when assembling the robot arm 200, an opening is provided in the link 204, but after the connection, the opening is covered with a cover 295.

[0131] The joint 225 includes an electric motor 215 (e.g., a servo motor), a reducer 2042, a brake 2043, and a motor control device 245, which are arranged in a space surrounded by covers 255 and 235. That is, in the internal space of the joint 225, the electric motor 215 and the motor control device 245, which are heat generating elements illustrated surrounded by a dotted line, are arranged relatively close to each other.

[0132] The motor control device 245 (motor control section) is fixed to the link 204 via a fixing bracket 285, and includes a board SUB5 on which an electric circuit (control circuit) for controlling the driving of the electric motor 215 is mounted.

[0133] The electric motor 215 and motor control device 245, which are heat generating elements, require heat dissipation means. As described below, this embodiment is characterized by the configuration of the heat dissipation paths of the electric motor 215 and motor control device 245.

[0134] Since the electric motor 215 rotates the robot arm on the tip side of the link 205, a large amount of heat is generated when the load is large, and a large amount of heat is discharged to the heat dissipation path of the electric motor 215.

[0135] On the other hand, if the temperature of the motor control device 245 rises excessively, the electric circuit (control circuit) will malfunction and the electric motor 215 will no longer be able to be driven and controlled normally, so the heat dissipation means of the motor control device 245 is required to be able to dissipate heat stably.

[0136] Generally, heat dissipation paths are constructed of materials with good thermal conductivity. However, for example, if the materials of the heat dissipation path of the motor control device 245 and the heat dissipation path of the electric motor 215 are in contact with each other, or if the heat dissipation paths are constructed sharing the same materials, thermal conduction will occur between the heat dissipation paths.

[0137] If a configuration is used in which heat conduction is likely to occur between the heat dissipation path of the motor control device 245 and the heat dissipation path of the electric motor 215, the heat dissipation function of the motor control device 245 may be affected by heat dissipation from the electric motor 215. When a large amount of heat is discharged from the electric motor 215 to the heat dissipation path and the temperature of the members constituting the heat dissipation path rises, the amount of heat exhausted from the heat dissipation path of the motor control device 245 decreases, and in some cases, part of the heat generated by the electric motor 215 is conducted to the motor control device 245 side. This reduces the heat dissipation function from the motor control device 245, causing the temperature of the motor control device 245 to rise, increasing the possibility of the electric circuit (control circuit) malfunctioning.

[0138] In this embodiment, the heat dissipation paths of the motor control device 245 and the electric motor 215 are configured separately using materials with good thermal conductivity, resulting in a structure in which heat conduction is unlikely to occur between the heat dissipation paths.

[0139] That is, the board SUB5 on which the electric circuit (control circuit) in the motor control device 245 is mounted is connected to the cover 255 (first heat dissipation member) via a heat conductive member 275 (first heat conductive member) as a first heat dissipation path. Heat generated in the electric circuit (control circuit) of the board SUB5 is dissipated to the atmosphere from the cover 255. In order to bring the board SUB5 and the heat conductive member 275 into contact over a wide area without shorting the electric circuit (control circuit) in the board SUB5, it is preferable to arrange the board SUB5 and the heat conductive member 275 with a heat conductive sheet sandwiched between them, which is electrically insulating but transmits heat well.

[0140] Moreover, the electric motor 215 is connected to the cover 235 (second heat dissipation member) via a heat conductive member 265 (second heat conductive member) as a second heat dissipation path. Heat generated by the electric motor 215 is dissipated to the atmosphere from the cover 235. For example, it is preferable to connect the stator side housing (exterior member) of the electric motor 215 and the heat conductive member 265 over a wide area.

[0141] The link 204, the housing of the electric motor 215, the heat conducting member 265, the heat conducting member 275, the fixing bracket 285, the cover 235, and the cover 255 may be made of, for example, a lightweight aluminum alloy, but are not limited to this. They may also be made of other metals, such as magnesium alloys and ferroalloys. The heat conducting member 265 and the heat conducting member 275 may be made of a metal member having high thermal conductivity, such as copper, or a polymeric material.

[0142] As described above, in this embodiment, the heat conduction member 275 of the first heat dissipation path and the heat conduction member 265 of the second heat dissipation path are separate members arranged at a distance from each other, so that heat generated by the electric motor 215 is not directly conducted from the second heat dissipation path to the first heat dissipation path.

[0143] Furthermore, it is preferable to adopt a configuration that suppresses the heat conducted from the electric motor 215 to the cover 235 via the heat conducting member 265 from being transmitted to the motor control device 245 via the link 204. Specifically, the fixed bracket 285 can be made of a material with low thermal conductivity (for example, a resin material). Alternatively, for example, a metal material is used for the fixed bracket 285, but a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the fixed bracket 285 and the link 204 to suppress the heat conduction from the link 204 to the fixed bracket 285. Alternatively, for example, a metal material is used for the fixed bracket 285, but a resin member or a ceramic member with low thermal conductivity may be interposed between the fixed bracket 285 and the motor control device 245. Also, a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the cover 235 and the link 204, or a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the cover 255 and the link 204.

[0144] In this embodiment, the cover 255 and the cover 235, which cover the side having the largest area in the outer shape of the joint 225, are used as heat dissipation parts, thereby achieving high heat dissipation efficiency. The cover 255 and the cover 235 are arranged in positions facing each other with the link 204 or the link 205 in between. The cover 255, which is a removable outer cover arranged in a position intersecting the rotation axis A5 of the joint, is set as a first heat dissipation part, and the removable cover 235 arranged in a direction intersecting the rotation axis A5 is set as a second heat dissipation part. The motor control device 245 and the first heat dissipation part are connected by a first heat dissipation path (thermal conductive member 275), and the electric motor 215 and the second heat dissipation part are connected by a second heat dissipation path (thermal conductive member 265).

[0145] In this way, the heat dissipation paths of the motor control device 245 and the electric motor 215 are configured separately, and a structure is created in which thermal conduction between the heat dissipation paths is unlikely to occur, thereby preventing the exhaust heat from the electric motor 215 from affecting the function of the motor control device 245. Therefore, according to this embodiment, even if the motor, which is a heat generating body, and the motor control device are installed relatively close to each other inside the robot's housing, the heat from the motor and the motor control device is dissipated appropriately, allowing the robot to operate stably.

[0146] [Embodiment 6] 13 is a cross-sectional view for explaining the internal structure of a joint mechanism, that is, a joint 226. As shown in FIG. 2, the joint 226 is the sixth joint from the base end side, and connects the link 205 and the link 206 of the robot arm 200.

[0147] Joint 226 supports link 205 and link 206 at both ends with two bearings so that link 206 can rotate around rotation axis A6. Note that rotation axis A5 in Fig. 12 and rotation axis A6 in Fig. 13 are disposed perpendicular to each other.

[0148] The joint 226 includes an electric motor 216 (e.g., a servo motor), a reducer 2052, a brake 2053, and a motor control device 246, which are arranged in a space surrounded by covers 256 and 236. That is, the electric motor 216 and the motor control device 246, which are heat generating elements illustrated by being surrounded by a dotted line, are arranged relatively close to each other in the internal space of the joint 226. The electric motor 216 is provided with an encoder EN that detects its rotation.

[0149] The motor control device 246 (motor control section) is fixed to the link 205 via a fixing bracket 286, and includes a board SUB6 on which an electric circuit (control circuit) for controlling the driving of the electric motor 216 is mounted.

[0150] The sides of the joint 226 are covered with detachable covers 236 and 256, and the covers 236 and 256 are spaced apart from each other. In other words, the covers 236 and 256 are structured such that heat is not easily transferred between them.

[0151] The electric motor 216 and motor control device 246, which are heat generating elements, require heat dissipation means. As will be described below, this embodiment is characterized by the configuration of the heat dissipation paths of the electric motor 216 and motor control device 246.

[0152] Since the electric motor 216 rotates the robot arm on the tip side of the link 206, a large amount of heat is generated when the load is large, and a large amount of heat is discharged to the heat dissipation path of the electric motor 216.

[0153] On the other hand, if the temperature of the motor control device 246 rises excessively, the electric circuit (control circuit) will malfunction and the electric motor 216 will no longer be able to be driven and controlled normally, so the heat dissipation means of the motor control device 246 is required to be able to dissipate heat stably.

[0154] Generally, heat dissipation paths are constructed of materials with good thermal conductivity. However, for example, if the materials of the heat dissipation path of the motor control device 246 and the heat dissipation path of the electric motor 216 are in contact with each other, or if the heat dissipation paths are constructed sharing the same materials, thermal conduction will occur between the heat dissipation paths.

[0155] If a configuration is used in which heat conduction is likely to occur between the heat dissipation path of the motor control device 246 and the heat dissipation path of the electric motor 216, the heat dissipation function of the motor control device 246 may be affected by heat dissipation from the electric motor 216. When a large amount of heat is discharged from the electric motor 216 to the heat dissipation path and the temperature of the members constituting the heat dissipation path rises, the amount of heat discharged from the heat dissipation path of the motor control device 246 decreases, and in some cases, part of the heat generated by the electric motor 216 is conducted to the motor control device 246 side. This reduces the heat dissipation function from the motor control device 246, causing the temperature of the motor control device 246 to rise, increasing the possibility of the electric circuit (control circuit) malfunctioning.

[0156] In this embodiment, the heat dissipation paths of the motor control device 246 and the electric motor 216 are configured separately using materials with good thermal conductivity, making it difficult for thermal conduction to occur between the heat dissipation paths.

[0157] That is, the board SUB6 on which the electric circuit (control circuit) in the motor control device 246 is mounted is connected to the cover 256 (first heat dissipation member) via a heat conductive member 276 (first heat conductive member) as a first heat dissipation path. Heat generated in the electric circuit (control circuit) of the board SUB6 is dissipated from the cover 256 to the atmosphere. In order to bring the board SUB6 and the heat conductive member 276 into contact over a wide area without shorting the electric circuit (control circuit) in the board SUB6, it is preferable to arrange the board SUB6 and the heat conductive member 276 with a heat conductive sheet sandwiched between them, which is electrically insulating but transmits heat well.

[0158] Moreover, the electric motor 216 is connected to the cover 236 (second heat dissipation member) via a heat conductive member 266 (second heat conductive member) serving as a second heat dissipation path. Heat generated by the electric motor 216 is dissipated to the atmosphere from the cover 236. For example, it is preferable to connect the housing (exterior member) on the stator side of the electric motor 216 and the heat conductive member 266 over a wide area.

[0159] The link 205, the housing of the electric motor 216, the heat conducting member 266, the heat conducting member 276, the fixing bracket 286, the cover 236, and the cover 256 may be made of, for example, a lightweight aluminum alloy, but are not limited to this. They may also be made of other metals, such as magnesium alloys and ferroalloys. The heat conducting member 266 and the heat conducting member 276 may also be made of metal members with high thermal conductivity, such as copper, or polymeric materials.

[0160] As described above, in this embodiment, the heat conduction member 276 of the first heat dissipation path and the heat conduction member 266 of the second heat dissipation path are separate members arranged at a distance from each other, so that heat generated by the electric motor 216 is not directly conducted from the second heat dissipation path to the first heat dissipation path.

[0161] Furthermore, it is preferable to employ a configuration that suppresses the heat conducted from the electric motor 216 to the cover 236 via the heat conducting member 266 from being transmitted to the motor control device 244 via the link 205. Specifically, the fixed bracket 286 can be made of a material with low thermal conductivity (e.g., a resin material). Alternatively, for example, a metal material is used for the fixed bracket 286, but a resin member or a ceramic member with low thermal conductivity may be interposed at the connection between the fixed bracket 286 and the link 205 to suppress the heat conduction from the link 205 to the fixed bracket 286. Alternatively, for example, a metal material is used for the fixed bracket 286, but a resin member or a ceramic member with low thermal conductivity may be interposed between the fixed bracket 286 and the motor control device 246.

[0162] Furthermore, in this embodiment, when the cover 236 is fixed to the link 205, the bolt 2101 and the threaded portion of the link 205 are screwed together to connect, and a heat insulating member 2102 is sandwiched between the contact surfaces of the link 205 and the cover 236. When the fixing bracket 286 is fixed to the link 205, the bolt 2103 and the threaded portion of the link 205 are screwed together to connect, and a heat insulating member 2104 is sandwiched between the contact surfaces of the link 205 and the fixing bracket 286. The heat insulating member 2102 and the heat insulating member 2104 may be formed of, for example, a polymer material (such as resin) having low thermal conductivity or ceramic.

[0163] In this embodiment, the cover 256, which is a removable outer cover arranged at a position not intersecting with the rotation axis A6 of the joint, is set as the first heat dissipation section, and the removable cover 236 arranged at a position not intersecting with the rotation axis A6 is set as the second heat dissipation section. The motor control device 246 and the first heat dissipation section are connected by a first heat dissipation path (heat conductive member 276), and the electric motor 216 and the second heat dissipation section are connected by a second heat dissipation path (heat conductive member 266).

[0164] In this way, the heat dissipation paths of the motor control device 246 and the electric motor 216 are configured separately, and a structure is created in which thermal conduction between the heat dissipation paths is unlikely to occur, thereby preventing the exhaust heat from the electric motor 216 from affecting the function of the motor control device 246. Therefore, according to this embodiment, even if the motor and the motor control device, which are heat generating bodies, are installed relatively close to each other inside the robot's housing, the heat from the motor and the motor control device can be dissipated appropriately, allowing the robot to operate stably.

[0165] [Other embodiments] The present invention is not limited to the above-described embodiment, and many modifications are possible within the technical spirit of the present invention. For example, the above-described different embodiments may be combined in whole or in part.

[0166] The robot according to the embodiment is not limited to a form equipped with a six-axis vertical articulated arm as illustrated in FIG. 2, but may have various forms such as a vertical articulated type with a different number of axes, a parallel link type, or a linear joint type.

[0167] The robot does not need to include all of the joint mechanisms exemplified in embodiments 1 to 6. It is sufficient that at least one of the joint mechanisms included in the robot has an independent heat dissipation path for the motor control device and the electric motor, as exemplified in the embodiments.

[0168] The first heat dissipation member and / or the second heat dissipation member may be any member that has a wide area of ​​contact with the atmosphere to achieve a heat dissipation effect. In other words, the first heat dissipation member and / or the second heat dissipation member do not necessarily have to be a cover member detachably attached to the joint mechanism, and may be, for example, a mechanism member fixedly installed on the outer surface of the joint mechanism. At least one of the first heat dissipation member and the second heat dissipation member may have an uneven shape or a fin shape on the outer surface in order to enhance the heat dissipation effect, or may have an opening for allowing air to flow between the outside air and the heat conductive member side.

[0169] The first heat dissipation member and the second heat dissipation member are spaced apart from each other, and a low heat conductive member (for example, a resin member or a ceramic member) having a low thermal conductivity may be disposed between the two spaced apart members.

[0170] In the joint mechanism according to the embodiment, the temperature rise of the motor control unit due to the exhaust heat of the electric motor is suppressed, and the stability and accuracy of the operation of the joint mechanism are ensured. Therefore, the joint mechanism is provided with a position sensor that acquires information about the position of the distal link relative to the proximal link, and the control unit controls the motor control unit using the information acquired by the position sensor, thereby enabling accurate position control of the robot. Alternatively, a torque sensor is provided that detects information about the torque that rotates the distal link relative to the proximal link, and the control unit controls the motor control unit using the information acquired by the torque sensor, thereby enabling accurate torque control of the robot.

[0171] The operations to be executed by the robot device having the joint mechanism according to the embodiment are typically operations related to the manufacture of articles, such as parts assembly operations, conveyance operations, processing operations (including cutting, polishing, drilling, painting, bonding, welding, etc.), cleaning operations, etc. However, the robot device may be made to execute operations other than those.

[0172] The joint mechanism according to the embodiment can be applied to various machines and equipment, such as industrial robots, service robots, and processing machines that operate under numerical control by a computer. For example, the joint mechanism can be applied to the joints of machines and equipment that can automatically perform operations such as expansion and contraction, bending and stretching, vertical movement, horizontal movement, or rotation, or a combination of these operations, based on information in a storage device provided in a control device. A control method and a control program for operating a robot equipped with the joint mechanism according to the embodiment, and a computer-readable recording medium storing the control program are also included in the embodiments of the present invention.

[0173] The present invention can also be realized by a process in which a program for implementing one or more functions of the 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 functions.

[0174] This specification discloses at least the following: [Matter 1] A first link and a second link, a motor for displacing the second link relative to the first link; A motor control unit that controls the motor; A first heat dissipation member; A second heat dissipation member; a first heat conducting member connecting the motor control unit and the first heat dissipation member; a second heat conducting member connecting the motor and the second heat dissipation member, the first heat conducting member and the second heat conducting member are spaced apart, and the first heat dissipating member and the second heat dissipating member are spaced apart. A robot characterized by: [Matter 2] The motor control unit is fixed to the first link via a fixing bracket made of a member with low thermal conductivity. 2. The robot according to item 1, [Matter 3] The motor control unit is fixed to the first link via a fixing bracket, and a member having a low thermal conductivity is interposed between the motor control unit and the fixing bracket. 2. The robot according to item 1, [Matter 4] The motor control unit is fixed to the first link via a fixing bracket, and a member having a low thermal conductivity is interposed between the fixing bracket and the first link. 2. The robot according to item 1, [Matter 5] A member having low thermal conductivity is disposed between the first heat dissipation member and the second heat dissipation member. 2. The robot according to item 1, [Matter 6] the first heat dissipation member is fixed to the first link via a member having low thermal conductivity; 2. The robot according to item 1, [Matter 7] the second heat dissipation member is fixed to the first link via a member having low thermal conductivity; 2. The robot according to item 1, [Matter 8] The low thermal conductivity member is a resin member or a ceramic member. 8. The robot according to any one of claims 2 to 7. [Matter 9] The motor control unit includes a substrate on which a control circuit is mounted, The substrate and the first thermal conductive member are in surface contact with each other via an electrically insulating thermal conductive sheet. 9. The robot according to any one of claims 1 to 8, [Matter 10] At least one of the first heat dissipation member and the second heat dissipation member has an outer surface with a concave-convex shape or a fin shape. 10. A robot according to any one of claims 1 to 9. [Matter 11] At least one of the first heat dissipation member and the second heat dissipation member has an opening for allowing air to flow. 11. The robot according to any one of claims 1 to 10. [Matter 12] an air-cooling fan for blowing air to at least one of the first heat dissipation member and the second heat dissipation member; 12. A robot according to any one of claims 1 to 11. [Matter 13] the first heat dissipation member is disposed at a position not intersecting with a rotation axis of the second link, The second heat dissipation member is disposed at a position intersecting with a rotation axis of the second link. 13. A robot according to any one of claims 1 to 12. [Matter 14] the first heat dissipation member and the second heat dissipation member are disposed at positions intersecting with a rotation axis of the second link; 13. A robot according to any one of claims 1 to 12. [Matter 15] The first heat dissipation member and the second heat dissipation member are cover members of a joint mechanism that connects the first link and the second link. 15. A robot according to any one of claims 1 to 14. [Matter 16] the first heat dissipation member is a cover member that covers one side surface of the joint mechanism, The second heat dissipation member is a cover member that covers the other side surface of the joint mechanism. 16. The robot according to item 15, [Matter 17] the first heat dissipation member is a cover member that covers a part of a side surface of the joint mechanism, The second heat dissipation member is a cover member that covers another part of the side surface. 16. The robot according to item 15, [Matter 18] a position sensor for obtaining information regarding a position of the second link relative to the first link; 18. A robot according to any one of claims 1 to 17. [Matter 19] a torque sensor for detecting information regarding a torque that rotates the second link relative to the first link; 19. A robot according to any one of claims 1 to 18. [Matter 20] 19. A method for controlling a robot according to item 18, comprising: A control unit controls the motor control unit using the information acquired by the position sensor. A method for controlling a robot comprising the steps of: [Matter 21] 20. A method for controlling a robot according to item 19, comprising: A control unit controls the motor control unit using the information acquired by the torque sensor. A method for controlling a robot comprising the steps of: [Matter 22] 22. A program for causing the control unit to execute the control method according to item 20 or 21. [Matter 23] 23. A computer-readable recording medium having the program according to item 22 recorded thereon. [Matter 24] Controlling the robot by the control method according to item 20 or 21 to perform an operation of manufacturing an article; A method for producing an article. [Matter 25] The work includes at least one of a part transport work, an assembly work, a processing work, and a cleaning work. 25. The method for producing an article according to item 24, [Matter 26] A first link and a second link, a motor for displacing the second link relative to the first link; A motor control unit that controls the motor; A first heat dissipation member; A second heat dissipation member; a first heat conducting member connecting the motor control unit and the first heat dissipation member; a second heat conducting member connecting the motor and the second heat dissipation member, the first heat conducting member and the second heat conducting member are spaced apart, and the first heat dissipating member and the second heat dissipating member are spaced apart. A drive device characterized by: [Matter 27] 27. A method for controlling a drive device according to item 26, comprising: A control unit is provided, the drive device includes a position sensor that obtains information regarding a position of the second link relative to the first link; The control unit controls the motor control unit using the information acquired by the position sensor. A method for controlling a drive device comprising: [Matter 28] 27. A method for controlling a drive device according to item 26, comprising: A control unit is provided, the driving device includes a torque sensor that detects information regarding a torque that rotates the second link relative to the first link, The control unit controls the motor control unit using the information acquired by the torque sensor. A method for controlling a drive device comprising: [Explanation of symbols]

[0175] 100···Robot / 200···Robot arm / 200a···Base housing / 201-206···Link / 211-216···Electric motor / 221-226···Joint / 231, 232, 232A, 233-236···Cover / 241-246···Motor control device / 251, 251A, 252, 252A, 252B, 253-256···Cover / 261-266···Heat conductive section materials / 271~276··Heat conductive materials / 281, 282, 282A, 282B, 283~286··Fixing bracket / 300··Robot control device / 400··Teaching pendant / 2006···Air-cooling fan / 2007, 2008··Heat pipe / 2101, 2103··Bolt / 2102, 2104··Heat insulating materials / A1~A6··Rotary shaft / SUB1~SUB6··Board

Claims

1. A first link and a second link; a motor for displacing the second link relative to the first link; A motor control unit that controls the motor; A first heat dissipation member; A second heat dissipation member; a first heat conducting member connecting the motor control unit and the first heat dissipation member; a second heat conducting member connecting the motor and the second heat dissipating member, the first heat conducting member and the second heat conducting member are spaced apart, and the first heat dissipating member and the second heat dissipating member are spaced apart. A robot characterized by:

2. The motor control unit is fixed to the first link via a fixing bracket made of a member with low thermal conductivity.

2. The robot according to claim 1 .

3. the motor control unit is fixed to the first link via a fixing bracket, and a member having a low thermal conductivity is interposed between the motor control unit and the fixing bracket; 2. The robot according to claim 1 .

4. The motor control unit is fixed to the first link via a fixing bracket, and a member having a low thermal conductivity is interposed between the fixing bracket and the first link.

2. The robot according to claim 1 .

5. A member having a low thermal conductivity is disposed between the first heat dissipation member and the second heat dissipation member.

2. The robot according to claim 1 .

6. the first heat dissipation member is fixed to the first link via a member having low thermal conductivity; 2. The robot according to claim 1 .

7. the second heat dissipation member is fixed to the first link via a member having a low thermal conductivity; 2. The robot according to claim 1 .

8. The low thermal conductivity member is a resin member or a ceramic member.

8. The robot according to claim 2, wherein the movable member is a movable member.

9. The motor control unit includes a substrate on which a control circuit is mounted, The substrate and the first thermal conductive member are in surface contact with each other with an electrically insulating thermal conductive sheet sandwiched therebetween. The robot according to any one of claims 1 to 7.

10. At least one of the first heat dissipation member and the second heat dissipation member has an outer surface with a concave-convex shape or a fin shape. The robot according to any one of claims 1 to 7.

11. At least one of the first heat dissipation member and the second heat dissipation member has an opening for allowing air to flow. The robot according to any one of claims 1 to 7.

12. an air-cooling fan for blowing air to at least one of the first heat dissipation member and the second heat dissipation member; The robot according to any one of claims 1 to 7.

13. the first heat dissipation member is disposed at a position not intersecting with a rotation axis of the second link, The second heat dissipation member is disposed at a position intersecting with a rotation axis of the second link. The robot according to any one of claims 1 to 7.

14. the first heat dissipation member and the second heat dissipation member are disposed at positions intersecting with a rotation axis of the second link; The robot according to any one of claims 1 to 7.

15. the first heat dissipation member and the second heat dissipation member are cover members of a joint mechanism that connects the first link and the second link; The robot according to any one of claims 1 to 7.

16. the first heat dissipation member is a cover member that covers one side surface of the joint mechanism, The second heat dissipation member is a cover member that covers the other side surface of the joint mechanism.

16. The robot according to claim 15.

17. the first heat dissipation member is a cover member that covers a part of a side surface of the joint mechanism, The second heat dissipation member is a cover member that covers another part of the side surface.

16. The robot according to claim 15.

18. a position sensor for obtaining information regarding a position of the second link relative to the first link; 2. The robot according to claim 1 .

19. a torque sensor for detecting information regarding a torque that rotates the second link relative to the first link; 2. The robot according to claim 1 .

20. A method for controlling a robot according to claim 18, comprising the steps of: A control unit controls the motor control unit using the information acquired by the position sensor. A method for controlling a robot comprising the steps of:

21. A control method for controlling the robot according to claim 19, comprising the steps of: A control unit controls the motor control unit using the information acquired by the torque sensor. A method for controlling a robot comprising the steps of:

22. A program for causing the control unit to execute the control method according to claim 20 or 21.

23. A computer-readable recording medium having the program according to claim 22 recorded thereon.

24. The robot is controlled by the control method according to claim 20 or 21 to perform a task of manufacturing an article. A method for producing an article comprising the steps of:

25. The operation includes at least one of a part transport operation, an assembly operation, a processing operation, and a cleaning operation.

25. A method for producing an article according to claim 24.

26. A first link and a second link; a motor for displacing the second link relative to the first link; A motor control unit that controls the motor; A first heat dissipation member; A second heat dissipation member; a first heat conducting member connecting the motor control unit and the first heat dissipation member; a second heat conducting member connecting the motor and the second heat dissipating member, the first heat conducting member and the second heat conducting member are spaced apart, and the first heat dissipating member and the second heat dissipating member are spaced apart. A drive device characterized by:

27. A method for controlling the drive device according to claim 26, comprising the steps of: A control unit is provided, the driving device includes a position sensor that obtains information regarding a position of the second link relative to the first link; The control unit controls the motor control unit using the information acquired by the position sensor. A method for controlling a drive device comprising:

28. A method for controlling the drive device according to claim 26, comprising the steps of: A control unit is provided, the driving device includes a torque sensor that detects information regarding a torque that rotates the second link relative to the first link, The control unit controls the motor control unit using the information acquired by the torque sensor. A method for controlling a drive device comprising:

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