Robot and robot system

Abstract

To provide a robot which can radiate heat efficiently, and to provide a robot system.SOLUTION: A robot includes: a first member; and a second member which is connected to the first member so as to rotate relative to the first member and has a metallic base, a motor disposed at the base, a housing which encloses at least the motor, and a heat conduction member including a heat receiving member configured to contact with the motor. The heat conduction member has a first surface configured to contact with the base and a second surface configured to contact with the housing.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a robot and a robot system. [Background technology]

[0002] Patent Document 1 discloses a robot configuration in which the heat of a motor is transferred to a housing via a thermal conductor, thereby efficiently dissipating the heat of the motor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-046398 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the configuration of Patent Document 1, the heat dissipation path of the thermal conductor is limited to one member, which causes a problem that the member is prone to retaining heat and the heat dissipation efficiency is poor. [Means for solving the problem]

[0005] The robot comprises a first member, and a second member connected to the first member so as to rotate relative to the first member, the second member having a metal base, a motor arranged on the base, a housing enclosing at least the motor, and a heat conduction member including a heat receiving portion in contact with the motor, the heat conduction member having a first surface in contact with the base and a second surface in contact with the housing.

[0006] The robot system includes the robot described above and a control device that controls the driving of the robot. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a side view showing a configuration of a robot system. [Diagram 2] FIG. 2 is an exploded perspective view showing the configuration of a second arm of the robot. [Diagram 3] FIG. 3 is an enlarged perspective view of a portion A of the robot shown in FIG. 2. [Figure 4] FIG. 4 is a perspective view showing the configuration of a heat conduction member of the second arm. [Diagram 5] FIG. [Figure 6] FIG. [Figure 7] FIG. 4 is a cross-sectional view showing a heat dissipation path in the heat conductive member. [Figure 8] FIG. 13 is a perspective view showing a configuration of a heat conduction member according to a modified example. [Figure 9] FIG. 13 is a perspective view showing a configuration of a heat conduction member according to a modified example. [Figure 10] 13 is a cross-sectional view showing a heat dissipation path in a heat conduction member according to a modified example. [Figure 11] FIG. 13 is a perspective view showing a configuration of a heat conduction member according to a modified example. [Figure 12] FIG. 13 is a plan view showing a configuration of a heat conduction member according to a modified example. [Figure 13] FIG. 13 is a perspective view showing a configuration of a heat conduction member according to a modified example. [Figure 14] 13 is a cross-sectional view showing a heat dissipation path in a heat conduction member according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] In the following figures, the three mutually orthogonal axes are described as the X-axis, Y-axis, and Z-axis. The direction along the X-axis is the "X-direction", the direction along the Y-axis is the "Y-direction", and the direction along the Z-axis is the "Z-direction", with the arrow direction being the + direction and the direction opposite to the + direction being the - direction. The +Z direction is sometimes called "upper" or "upper side" or "front side", and the -Z direction is sometimes called "lower" or "lower side" or "rear side", and the view from the +Z direction and -Z direction is also called a planar view or planar. The surface on the +Z side is described as the "upper surface" or "front side", and the surface on the opposite side of the -Z side is described as the "lower surface" or "rear side".

[0009] First, the configuration of a robot system 100 will be described with reference to FIG.

[0010] The robot system 100 of this embodiment includes a robot 1 and a robot control device 2 that serves as a control device for controlling the driving of the robot 1.

[0011] The robot 1 in this embodiment is a SCARA robot, and is used for various tasks such as holding, transporting, processing, assembling, and inspecting workpieces such as electronic parts, mechanical parts, etc. However, the use of the robot 1 is not particularly limited.

[0012] As shown in FIG. 1, the robot 1 has a base 20 and a robot arm 22 rotatably connected to the base 20.

[0013] The base body 21 of the base 20 is fixed to a floor surface 10 that is parallel to a horizontal plane. The above-mentioned robot control device 2 is installed inside the base body 21. The robot control device 2 may be installed outside the base 20.

[0014] The robot arm 22 has a first arm 30 as a first member whose base end is connected to the base body 21 and rotates around a first rotation axis J1 that is vertical to the base body 21, and a second arm 40 as a second member whose base end is connected to a tip end 31 of the first arm 30 and rotates around a second rotation axis J2 that is vertical to the first arm 30.

[0015] A working head 50 is provided at the tip of the second arm 40. The second arm 40 is shaped to extend linearly from the second rotation axis J2 to the working head 50, that is, in the Y-axis direction.

[0016] The spline shaft 51 is rotatable about a third rotation axis J3 that is the central axis of the second arm 40 and that extends in the vertical direction, and is also movable up and down along the third rotation axis J3.

[0017] The base 20 and the second arm 40 are connected by a flexible pipe 23, such as a cable. A base end of the pipe 23 penetrates the upper surface 21a of the base body 21 and is located inside the base body 21. A tip end of the pipe 23 is located inside an arm cover 41 serving as a housing.

[0018] The piping 23 contains power supply lines, signal lines, etc. that extend from inside the base body 21 to inside the second arm 40. That is, these power supply lines, signal lines, etc. are configured as insulated cords or cables made of bundled cords. The robot control device 2 installed inside the base body 21 and the drive unit located inside the arm cover 41 are electrically connected by such cords or cables.

[0019] The pipe 23 has flexibility, and therefore can sufficiently follow the change in posture of the robot arm 22 caused by the rotation of the first arm 30 and the rotation of the second arm 40 .

[0020] The robot 1 has a drive unit 24 that connects the base 20 and the first arm 30 and rotates the first arm 30 around a first rotation axis J1 relative to the base 20, and a first motor unit 61 (see Figure 2) that connects the first arm 30 and the second arm 40 and serves as a motor that rotates the second arm 40 around a second rotation axis J2 relative to the first arm 30.

[0021] Each of the first motor units 61 and the like includes a motor, a reducer, an encoder, and the like (not shown). Each motor and each encoder is electrically connected to the robot control device 2. Each encoder detects the rotational position information of the corresponding motor and transmits it to the robot control device 2.

[0022] The robot control device 2 controls the energization conditions for each motor via a motor driver (not shown) based on the rotational position information of each motor received from each encoder. This causes the robot arm 22 to operate, i.e., the first arm 30, the second arm 40 and the spline shaft 51 to operate, and the posture of the robot arm 22 changes over time according to a predetermined program, allowing the robot arm 22 to perform a desired task.

[0023] In this example, the robot control device 2 is a robot controller. The robot control device 2 transmits the generated control signal to the robot 1, and causes the robot 1 to perform a predetermined task. In the following, for the sake of convenience, the description of the generation and transmission of the control signal by the robot control device 2 will be omitted, and the operation that the robot control device 2 causes the robot 1 to perform, and the processing that the robot control device 2 performs when operating the robot 1 will be described. The predetermined task is, for example, a task in which the robot 1 grasps an object (not shown) and places the grasped object in a material supply area (not shown), but may be another task instead.

[0024] Next, the configuration of the robot 1 will be described with reference to FIG.

[0025] As shown in FIG. 2, the second arm 40 has an arm cover 41, a first motor unit 61, a second motor unit 62, a third motor unit 63, a base 70, a rotating shaft body 32 extending along the second rotation axis J2, and a spline shaft 51 extending along the third rotation axis J3.

[0026] The second arm 40 holds the arm cover 41, the first motor unit 61 to the third motor unit 63, the spline shaft 51, and the rotating shaft body 32. The second arm 40 has a base 70. The base 70 has a bottom plate portion 70a to which the first motor unit 61 to the third motor unit 63 are fixed from above, and a side wall portion 70b protruding upward from the outer edge of the bottom plate portion 70a.

[0027] In plan view, the arm cover 41 covers the first motor unit 61 to the third motor unit 63. The arm cover 41 has a cover plate 42. The cover plate 42 is a rigid metal plate for supporting the upper part of the second arm 40, and for example, a heavy air tube, a connector, a switch, etc. are attached to the cover plate 42.

[0028] Specifically, the cover plate 42 has a first cover plate 42a standing upward on the side of the rotating shaft body 32, and a second cover plate 42b extending horizontally from an upper end of the first cover plate 42a. The cover plate 42 is fixed to the base 70 at a lower end of the first cover plate 42a. The cover main body 43 is fixed to the cover plate 42 and the base 70.

[0029] The first motor unit 61 disposed on the base 70 is particularly susceptible to generating heat because it has a large operating load among the first motor unit 61 to the third motor unit 63. The heat generated by the first motor unit 61 is dissipated to the base 70 and the cover plate 42 via the thermal conduction member 200 (see FIGS. 3 to 5).

[0030] Next, the configuration of heat conducting member 200 will be described with reference to Figures 3 to 7. Note that Figure 3 shows only heat conducting member 200 by solid lines.

[0031] As shown in FIGS. 3 and 4, the second arm 40 is disposed so as to rotate relatively to the first arm 30, and includes a base 70, a first motor unit 61, an arm cover 41, and a heat conductive member 200.

[0032] 6, the base 70 is made of a metal material. The base 70 is a member having a larger volume and a higher heat capacity than the cover plate 42. The first motor unit 61 is disposed on the base 70. The arm cover 41 is disposed so as to surround at least the first motor unit 61, and is constituted by the cover plate 42 and the cover main body 43 as described above.

[0033] The thermal conduction member 200 is plate-shaped and has a heat receiving portion 210 in contact with the outer periphery 61a of the first motor unit 61, a first heat dissipation portion 220 in contact with the base 70, a second heat dissipation portion 230 in contact with the cover plate 42, specifically, the first cover plate 42a, and a connecting portion 240 connecting the heat receiving portion 210, the first heat dissipation portion 220 and the second heat dissipation portion 230.

[0034] 5, the heat conduction member 200 of the present embodiment is formed of, for example, sheet metal, and is configured by connecting a heat receiving portion 210, a first heat dissipation portion 220, a second heat dissipation portion 230, and a connection portion 240. The heat receiving portion 210 is configured to extend in a curved shape so as to contact a range of 180° on one side of the outer periphery 61a of the first motor unit 61.

[0035] The first heat dissipation portion 220 has a first surface 220a which is in direct contact with the base 70. The second heat dissipation portion 230 has a second surface 230a which is in direct contact with the first cover plate 42a.

[0036] 3, the heat conducting member 200 is provided with a notch 220b for avoiding the screw of the integrated actuator (not shown). The heat conducting member 200 is fixed, for example, by being fastened together with the screw of the integrated actuator at the notch 220b. This may allow the integrated actuator to dissipate heat.

[0037] By using such a heat conductive member 200, heat generated by the first motor unit 61 is conducted from the outer periphery 61a of the first motor unit 61 to the heat receiving portion 210 via the heat conductive sheet 82. The heat conductive sheet 82 is used to prevent a gap from being formed between the first motor unit 61 and the heat receiving portion 210. The heat conducted to the heat receiving portion 210 is dissipated to the first heat dissipation portion 220 and the second heat dissipation portion 230 via the connection portion 240.

[0038] Furthermore, the heat transferred to the first heat dissipation portion 220 is dissipated to the base 70 via a heat conductive sheet (not shown) (see FIG. 6). The heat transferred to the second heat dissipation portion 230 is dissipated to the first cover plate 42a via a heat conductive sheet 81.

[0039] 7, the heat conductive member 200 in contact with the first motor unit 61 has a first surface 220a and a second surface 230a, so that the heat transferred from the first motor unit 61 can be dissipated to the base 70 via the first surface 220a and to the cover plate 42 via the second surface 230a. This improves the heat dissipation efficiency compared to the case where the heat of the first motor unit 61 is dissipated to one component. This improves the reliability of the robot 1 and the robot system 100.

[0040] In addition, since the multiple motor units 61 to 63 are arranged on the base 70, there is a possibility that the base 70 will generate heat. On the other hand, since no motor units are arranged on the cover plate 42, there is a low possibility that the base 70 will generate heat. Therefore, by contacting the heat conductive member 200 with the cover plate 42, the heat of the first motor unit 61 can be easily dissipated.

[0041] As described above, the robot 1 of this embodiment comprises a first arm 30, a second arm 40 connected to the first arm 30 so as to rotate relative to the first arm 30 and having a metal base 70, a first motor unit 61 arranged on the base 70, an arm cover 41 surrounding at least the first motor unit 61, and a heat conduction member 200 including a heat receiving portion 210 in contact with the first motor unit 61, and the heat conduction member 200 has a first surface 220a in contact with the base 70 and a second surface 230a in contact with the arm cover 41.

[0042] According to this configuration, since the heat conductive member 200 in contact with the first motor unit 61 has the first surface 220a and the second surface 230a, the heat transferred from the first motor unit 61 can be dissipated to the base 70 via the first surface 220a and to the arm cover 41 via the second surface 230a. Therefore, the heat dissipation efficiency can be improved compared to the case where the heat of the first motor unit 61 is dissipated to one component. This can improve the reliability of the robot 1.

[0043] Moreover, since heat is dispersed between the first heat dissipation section 220 and the second heat dissipation section 230, it is possible to prevent the temperature of the first motor unit 61 from rising too high. This makes it possible to prevent restrictions on the operation of the first motor unit 61 due to overheating. Furthermore, since the current value flowing through the motor included in the first motor unit 61 can be set high, the torque output by the motor can also be increased. This makes it possible to improve the operating performance of the robot 1.

[0044] Moreover, in the robot 1 of this embodiment, it is preferable that the arm cover 41 includes a metallic cover plate 42, and the second surface 230a of the heat conductive member 200 contacts the cover plate 42. According to this configuration, since the heat conductive member 200 contacts the metallic cover plate 42, for example, it is possible to reduce the weight of a part of the arm cover 41 by using resin, and dissipate heat without providing an additional metallic part.

[0045] Moreover, in the robot 1 of this embodiment, the base 70 is preferably a member having a larger volume and a higher heat capacity than the cover plate 42. With this configuration, the base 70 has a larger volume and a higher heat capacity than the cover plate 42, and therefore can receive more heat from the first motor unit 61, thereby improving heat dissipation.

[0046] In the robot 1 of this embodiment, the heat conductive member 200 is preferably plate-shaped. With this configuration, the heat conductive member 200 is plate-shaped and lightweight, so that the effect of inertia is suppressed, the load on the first motor unit 61 is reduced, and the amount of heat generated by the first motor unit 61 can be suppressed.

[0047] Furthermore, in the robot 1 of this embodiment, other motor units 62, 63 different from the first motor unit 61 are arranged on the base 70, and it is preferable that the first motor unit 61 and the other motor units 62, 63 do not come into contact with the cover plate 42. With this configuration, since the multiple motor units 61 to 63 are arranged on the base 70, there is a possibility that the base 70 will generate heat. On the other hand, since the motor units 61 to 63 are not arranged on the cover plate 42, there is a low possibility that the base 70 will generate heat. Therefore, by bringing the heat conductive member 200 into contact with the cover plate 42, it is possible to easily dissipate heat from the first motor unit 61.

[0048] In the robot 1 of this embodiment, it is preferable that the first member is the first arm 30, and the second member is the second arm 40. With this configuration, it is possible to efficiently dissipate heat from the first motor unit 61 arranged in, for example, a SCARA robot having the first arm 30 and the second arm 40.

[0049] Moreover, the robot system 100 of this embodiment includes the robot 1 described above, and a robot control device 2 that controls the driving of the robot 1. According to this configuration, since the robot control device 2 that controls the driving of the robot 1 is included, for example, it is possible to obtain a vibration damping effect for the robot 1, and a highly reliable robot system 100 can be provided.

[0050] Modifications of the above embodiment will now be described.

[0051] As described above, the heat conduction member 200 is not limited to being plate-shaped, and may be configured in a block shape as shown in Figures 8 and 9. Specifically, as shown in Figures 8 and 9, a modified heat conduction member 300 is made of aluminum, for example, and is formed in a single block shape spanning from the heat receiving portion 310 to the heat dissipating portion 320.

[0052] Specifically, the heat receiving portion 310 has a first heat receiving portion 310a that contacts one side of the outer periphery 61a of the first motor unit 61, and a second heat receiving portion 310b that contacts the other side of the outer periphery 61a of the first motor unit 61. The first heat receiving portion 310a is in contact with, for example, a 90° range in one direction. The second heat receiving portion 310b is in contact with, for example, a 90° range in the other direction.

[0053] 10, according to the modified heat conduction member 300, the heat generated from the first motor unit 61 is conducted to the heat receiving portions 310a and 310b of the heat conduction member 300, and the heat is further conducted to the heat dissipation portion 320. The heat from the heat dissipation portion 320 is dissipated from the lower surface 320a of the heat dissipation portion 320 to the base 70, and is dissipated from the side surface 320b of the heat dissipation portion 320 to the cover plate 42.

[0054] Thus, in the robot 1 of the modified example, the heat conductive member 300 is preferably block-shaped. With this configuration, since the heat conductive member 300 is block-shaped, it is possible to improve the adhesion with the first motor unit 61 and improve the heat conduction efficiency compared to when the heat conductive member 300 is plate-shaped. In addition, since the heat conductive member 300 is block-shaped and has a thickness, it is possible to receive more heat from the first motor unit 61 and improve the heat dissipation efficiency compared to when the heat conductive member 300 is plate-shaped.

[0055] As described above, the heat receiving portion 210 of the heat conducting member 200 is not limited to being in contact with the first motor unit 61 within a range of 180° in one direction, but may be configured as shown in FIGS.

[0056] 11 and 12, the heat receiving portion 410 of the modified heat conductive member 400 has a first heat receiving portion 410a in contact with one side of the outer periphery 61a of the first motor unit 61, and a second heat receiving portion 410b in contact with the other side of the outer periphery 61a of the first motor unit 61. The first heat receiving portion 410a is in contact with, for example, a range of 90° in one direction. The second heat receiving portion 410b is in contact with, for example, a range of 90° in the other direction.

[0057] With this configuration, the heat generated by the first motor unit 61 can be efficiently transferred from both the first heat receiving portion 410a and the second heat receiving portion 410b, and the heat can be dissipated from the first heat dissipation portion 420 to the base 70, and from the second heat dissipation portion 430 to the cover plate 42.

[0058] 11, the first heat dissipation portion 420 of the heat conductive member 400 is provided with a notch 420b corresponding to the notch 220b described in FIG. 3. Thus, the heat conductive member 400 is fixed to the notch 420b by being fastened together with the screw of the integrated actuator. Thus, the heat may be dissipated to the integrated actuator.

[0059] In this way, it is preferable that a plurality of heat receiving parts 410a, 410b are provided in the robot 1 of the modified example. According to this configuration, since a plurality of heat receiving parts 410a, 410b are provided, it is possible to appropriately contact the first motor unit 61 according to, for example, the shape of the first motor unit 61. Therefore, it is possible to reliably transfer the heat of the first motor unit 61 to the heat conductive member 400.

[0060] Moreover, like the above-described modified example, heat dissipation portion 320 of heat conduction member 300 is not limited to being block-shaped, and may have the configuration shown in FIGS.

[0061] In addition to the configuration of heat conduction member 300 described above, heat conduction member 500 of the modified example is provided with a plurality of heat dissipation fins 540 on side surface 520b of first heat dissipation portion 520. Furthermore, a second heat dissipation portion 530 that dissipates heat to cover plate 42 is provided on the upper portion of first heat dissipation portion 520.

[0062] According to the modified heat conduction member 500, the heat generated by the first motor unit 61 is transferred to the heat receiving portions 510a and 510b, and then transferred to the first heat dissipation portion 520. Thereafter, the heat can be dissipated from the lower surface 520a of the first heat dissipation portion 520 to the base 70, and also from the side surface 520b of the first heat dissipation portion 520 to the heat dissipation fins 540, so that the heat can be dissipated directly to the outside air. Furthermore, the heat can be dissipated from the side surface 530a of the second heat dissipation portion 530 to the cover plate 42. In addition, when the robot 1 is in operation, the second arm 40 is operated, so that the heat from the heat dissipation fins 540 can be dissipated to the outside air.

[0063] Furthermore, as described above, the first motor unit 61 and the heat conductive member 200 are not limited to being configured separately, and the first motor unit 61 and the heat conductive member 200 may be configured as an integrated unit.

[0064] Furthermore, unlike the heat transfer member 200 of the above embodiment, the heat receiving portion 210 is not limited to a curved, continuous configuration, but may be cut horizontally and divided into two.

[0065] Also, unlike the heat transfer member 400 of the above-described modified example, the heat transfer member is not limited to being composed of two heat receiving portions 410a, 410b, but may be cut vertically at the center plate surface to divide it into two, or may be cut horizontally to divide it into two. Since the center is cut out, the effect can be obtained when there is no space in front of the second arm 40.

[0066] Furthermore, as described above, the robot 1 is not limited to being a SCARA robot, but may be a multi-joint robot such as a six-axis robot.

[0067] Furthermore, as described above, the first member is not limited to being the first arm 30 and the second member is the second arm 40, and the first member may be the second arm 40 and the second member may be the first arm 30. The first member may be the base 20 and the second member may be the first arm 30. The first member may be the first arm 30 and the second member may be the base 20. [Explanation of symbols]

[0068] 1...robot, 2...robot control device as a control device, 10...floor surface, 20...base, 21...base body, 21a...upper surface, 22...robot arm, 23...piping, 24...drive unit, 30...first arm as a first member, 31...tip portion, 32...rotating shaft body, 40...second arm as a second member, 41...arm cover as a housing, 42...cover plate as a plate, 42a...first cover plate, 42b...second cover plate, 43...cover body, 50...work head, 51...spline shaft, 61...first motor unit as a motor, 61a...periphery, 62...second motor unit, 63...third motor unit, 70...base, 70a...bottom plate portion, 70b...side wall portion, 8 1...thermal conductive sheet, 82...thermal conductive sheet, 100...robot system, 200...thermal conductive member, 210...heat receiving portion, 220...first heat dissipation portion, 220a...first surface, 220b...notch portion, 230...second heat dissipation portion, 230a...second surface, 240...connection portion, 300...thermal conductive member, 310...heat receiving portion, 310a...first heat receiving portion, 310b...second heat receiving portion, 320 ...heat radiation part, 320a...bottom surface, 320b...side surface, 400...thermal conduction member, 410...heat receiving part, 410a...first heat receiving part, 410b...second heat receiving part, 420...first heat radiation part, 430... 2nd heat radiating part, 500... heat conduction member, 510a, 510b... heat receiving part, 520... first heat radiating part, 520a... bottom surface, 520b... side surface, 530... second heat radiating part, 540... heat radiating fin.

Claims

1. A first member; a second member connected to the first member so as to rotate relatively to the first member, the second member having a metal base, a motor disposed on the base, a housing surrounding at least the motor, and a heat conductive member including a heat receiving portion in contact with the motor; Equipped with The thermal conductive member has a first surface in contact with the base and a second surface in contact with the housing.

2. The robot according to claim 1 , The housing includes a metal plate, The second surface of the thermally conductive member contacts the plate.

3. The robot according to claim 2, The base is a member having a larger volume and a higher heat capacity than the plate.

4. The robot according to claim 1 , The thermal conductive member is plate-shaped.

5. The robot according to claim 1 , The robot includes a plurality of heat receiving portions.

6. The robot according to claim 1 , The thermal conductive member is block-shaped.

7. The robot according to claim 2, a motor different from the motor is disposed on the base; and The motor and the other motor do not come into contact with the plate.

8. The robot according to claim 1 , the first member is a first arm, The robot, wherein the second member is a second arm.

9. The robot according to any one of claims 1 to 8, A control device for controlling the driving of the robot; A robot system having the above configuration.

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