Robot and cover

Abstract

To provide a technology for advantageously downsizing an actuator unit.SOLUTION: A robot 12 includes: joint parts 14A, 14B; an actuator that drives the joint parts 14A, 14B; a wiring member arranged outside the actuator; and a cover 50 at least covering the actuator. The cover 50 includes: cover body parts 60A, 60B; and wiring storage parts 62A, 62B that expand in a direction of separating from the actuator further than the cover body parts 60A, 60B and store the wiring member therein.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a cover used in an actuator unit of a robot or the like. [Background technology]

[0002] Patent Document 1 discloses an actuator unit including an actuator, a wiring member disposed on the outside of the actuator, and a cover that covers the actuator. This actuator unit is configured as a robot including a joint and an actuator that drives the joint. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 03-121791 Summary of the Invention [Problem to be solved by the invention]

[0004] In the structure of Patent Document 1, no special measures are taken with respect to the cover when arranging the wiring member between the actuator and the cover. The inventors of the present application have recognized that there is room for improvement in the technology disclosed in Patent Document 1 in order to reduce the size of the actuator unit.

[0005] An object of the present disclosure is to provide a technique for advantageously reducing the size of an actuator unit. [Means for solving the problem]

[0006] A robot according to one aspect of the present disclosure is a robot comprising a joint, an actuator that drives the joint, a wiring member arranged on the outside of the actuator, and a cover that covers at least the actuator, wherein the cover comprises a cover main body and a wiring storage section that bulges out in a direction away from the actuator more than the cover main body and stores the wiring member inside.

[0007] A cover of one embodiment of the present disclosure is used for an actuator unit having an actuator and a wiring member arranged on the outside of the actuator, and is a cover that covers the actuator, and includes a cover main body portion and a wiring storage portion that bulges out in a direction away from the actuator more than the cover main body portion and stores the wiring member inside. Effect of the Invention

[0008] According to the present disclosure, it is possible to advantageously reduce the size of the actuator unit. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a perspective view of a robot according to an embodiment. [Diagram 2] FIG. 2 is an enlarged view of range S1 in FIG. [Diagram 3] FIG. 3 is a perspective view of FIG. 2 with the cover omitted. [Figure 4] 3 is a front cross-sectional view that shows a schematic diagram of the actuator together with a portion of a cross section cut along the first output axis L24A in FIG. 2. [Diagram 5] 3 is a left side cross-sectional view that illustrates a schematic view of the actuator together with a portion of the cross-section taken along the second output axis L24B in FIG. 2. [Figure 6] 3 is a perspective view of a connecting member as viewed from an arrow V1 in FIG. 2. [Figure 7] FIG. 4 is a front view of a portion of FIG. 3. [Figure 8] 7 is a perspective view of the cover and the connecting member as seen from the same viewpoint as in FIG. 6. [Figure 9]FIG. 7 is a perspective view of the cover as seen from the same viewpoint as in FIG. 6. [Figure 10] FIG. 4 is a front view of the cover of the embodiment. [Figure 11] FIG. 4 is a left side view of the cover according to the embodiment. [Figure 12] FIG. 11 is a diagram showing a part of a cross section taken along the line XII-XII of FIG. [Figure 13] 13 is a diagram showing a part of a cross section taken along the line XIII-XIII in FIG. 11. [Figure 14] 2 is an exploded front view of a portion of range S1 in FIG. 1. FIG. [Figure 15] 14 is a cross-sectional view of only the cover, taken from the same viewpoint as FIG. 13. [Figure 16] 16 is a cross-sectional view taken along line XVI-XVI of FIG. 15. [Figure 17] FIG. 17(A) is a schematic diagram showing a cover in a modified form as seen from an arrow V2 direction in FIG. 12, and FIG. 17(B) is a cross-sectional view taken along line AA in FIG. 17(A). [Figure 18] FIG. 2 is a perspective view of a cover according to the embodiment. [Figure 19] FIG. 2 is a top view of the cover of the embodiment. [Figure 20] FIG. 4 is a right side view of the cover according to the embodiment. [Figure 21] FIG. 4 is a bottom view of the cover of the embodiment. [Figure 22] FIG. 4 is a rear view of the cover of the embodiment. [Figure 23] FIG. 13 is another front view of the cover of the embodiment. [Figure 24] FIG. 13 is another left side view of the cover of the embodiment. [Diagram 25] FIG. 11 is another perspective view of the cover of the embodiment. [Figure 26] FIG. 11 is yet another perspective view of the cover of the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment for implementing the actuator unit of the present disclosure will be described. The same or equivalent elements are given the same reference numerals, and duplicated explanations will be omitted. In each drawing, for the convenience of explanation, components are omitted, enlarged, or reduced as appropriate. The drawings should be viewed according to the orientation of the reference numerals.

[0011] Please refer to Fig. 1. An actuator unit 10 of the embodiment is a robot 12. The robot 12 of the present embodiment is an industrial robot, but may be a service robot or the like. The robot 12 may be a collaborative robot for working in collaboration with humans.

[0012] The robot 12 includes a joint 14 and a plurality of robot members 16 connected in series by the joints 14. The robot 12 of this embodiment is a multi-joint robot with five joints. The number of joints is not particularly limited and may be any of 1 to 4, and 6 or more. The robot member 16 on the most proximal side of the robot 12 is a base member 18 as a pedestal placed on the floor, and the other robot members 16 are either an arm member 20 or a connecting member 22 (described later). Here, the plurality of joints 14 are distinguished as first to fifth stage joints from the base end side to the tip end side of the robot 12. Also, the plurality of robot members 16 are distinguished as first to sixth stage robot members from the base end side to the tip end side of the robot 12.

[0013] Please refer to Figures 2 and 3. Below, a configuration around the second and third stage joint portion 14 surrounded by an area S1 in Figure 1 will be described. This configuration will be described using different reference numerals from those in Figure 1.

[0014] The robot 12 includes a first joint portion 14A which is a second stage joint portion, and a second joint portion 14B which is a third stage joint portion. The first joint portion 14A connects a first robot member 16A which is a second stage robot member, and a second robot member 16B which is a third stage robot member. The second joint portion 14B connects the second robot member 16B and a third robot member 16C which is a fourth stage robot member. In this embodiment, the first and third robot members 16A and 16C are formed by arm members 20, and the second robot member 16B is formed by a connecting member 22 which will be described later.

[0015] The actuator unit 10 (robot 12) includes actuators 24A and 24B that drive the joints 14A and 14B. Here, "driving the joints" refers to driving the robot member on the tip side to rotate (move relative to) the robot member on the base side connected by the joints. Here, "rotation" is a concept that also includes so-called turning. The actuators 24A and 24B include a first actuator 24A that drives the first joint 14A and a second actuator 24B that drives the second joint 14B. The actuators 24A and 24B are incorporated into the joints 14A and 14B and connect the robot member on the base side to the robot member on the tip side. Note that actuators are also incorporated into joints other than the second and third joints in the robot 12.

[0016] 4 and 5, the actuators 24A and 24B include a motor 30, a reducer 32 that reduces the rotation input from the motor 30 and outputs the reduced rotation, and a driver unit 34 provided on the opposite side of the motor 30 to the reducer 32.

[0017] The motor 30 includes a motor casing 30a that houses a stator and a rotor (not shown). The motor 30 is not particularly limited, and may be, for example, a DC motor or an AC motor.

[0018] The reducer 32 includes a reducer casing 32a that houses a reduction mechanism (not shown) that reduces the rotation input from the motor 30, and a reducer internal member 32b that is at least partially disposed inside the reducer casing 32a. A specific example of the reduction mechanism is not particularly limited. The reduction mechanism may be, for example, a flexible mesh type reduction mechanism (tube type, top hat type, cup type, etc.), an eccentric oscillating type reduction mechanism (center crank type, distribution type, etc.), a simple planetary type reduction mechanism, an orthogonal shaft gear reduction mechanism, a parallel shaft gear reduction mechanism, etc. The reduction mechanism may be a reduction mechanism using either gears or a traction drive. The reducer internal member 32b is, for example, a carrier used in a flexible mesh type reduction mechanism, etc.

[0019] The reducer 32 includes a fixed portion 32c fixed to an external support member for supporting the actuators 24A and 24B, and an output portion 32d for outputting to a driven member driven by the actuators 24A and 24B. One of the fixed portion 32c and the output portion 32d is a reducer casing 32a, and the other is a reducer internal member 32b. The fixed portion 32c of the first actuator 24A is a reducer internal member 32b and is fixed to the first robot member 16A as an external support member. The output portion 32d of the first actuator 24A is a reducer casing 32a and is fixed to the second robot member 16B as a driven member. The fixed portion 32c of the second actuator 24B is a reducer casing 32a and is fixed to the second robot member 16B as an external support member. The output portion 32d of the second actuator 24B is a reducer internal member 32b and is fixed to the third robot member 16C as a driven member.

[0020] The driver unit 34 includes a driver housing 34a that includes a driver circuit, and a driver casing 34b that covers the driver housing 34a.

[0021] The actuators 24A and 24B output output rotations around the output axes L24A and L24B from the output section 32d of the reducer 32 to the driven member, thereby rotating the driven member relative to the external support member. The first actuator 24A outputs output rotations around the first output axis L24A to rotate the second robot member 16B relative to the first robot member 16A, thereby driving the first joint section 14A. The second actuator 24B outputs output rotations around the second output axis L24B to rotate the third robot member 16C relative to the second robot member 16B, thereby driving the second joint section 14B. Hereinafter, the direction along the first output axis L24A, the circumferential direction and the radial direction around the first output axis L24A are referred to as the first axial direction X, the first circumferential direction, and the first radial direction, respectively. Further, the direction along the second output axis L24B, and the circumferential direction and radial direction about the second output axis L24B are referred to as a second axial direction Y, a second circumferential direction, and a second radial direction, respectively.

[0022] The actuators 24A, 24B described above are generally columnar bodies that are long along their own output axes L24A, L24B. The actuators 24A, 24B each include an outer circumferential portion 24a and a motor-side axial end portion 24b that is provided on the motor 30 side with respect to the reducer 32. The outer circumferential portion 24a and the motor-side axial end portion 24b of the actuators 24A, 24B are configured by an actuator casing 36 that houses other components of the actuators 24A, 24B. The actuator casing 36 of this embodiment is configured by the motor casing 30a, the reducer casing 32a, and the driver casing 34b described above.

[0023] 4 to 6. The robot 12 includes a connecting member 22 that connects the first actuator 24A and the second actuator 24B. The connecting member 22 includes a first actuator fixing portion 22a to which the first actuator 24A is fixed, and a second actuator fixing portion 22b to which the second actuator 24B is fixed. The first and second actuator fixing portions 22a and 22b of this embodiment are configured so that the first output axis L24A of the first actuator 24A and the second output axis L24B of the second actuator 24B pass through the twisted position. In this embodiment, the second output axis L24B extends parallel to an orthogonal plane perpendicular to the first output axis L24A, and the first output axis L24A extends parallel to an orthogonal plane perpendicular to the second output axis L24B. The first and second actuator fixing portions 22a, 22b are configured so that the first actuator 24A and the second actuator 24B overlap when viewed from an orthogonal direction Z that is orthogonal to both the first output axis L24A and the second output axis L24B.

[0024] The first actuator fixing portion 22a includes a first cylindrical portion 22c surrounding the first actuator 24A, and a first axial fixing portion 22d facing the first actuator 24A in the first axial direction X and to which the first actuator 24A is fixed. The second actuator fixing portion 22b includes a second cylindrical portion 22e surrounding the second actuator 24B, and a second axial fixing portion 22f facing the second actuator 24B in the second axial direction Y and to which the second actuator 24B is fixed. The first cylindrical portion 22c and the second cylindrical portion 22e are connected by a connecting portion 22g.

[0025] Please refer to Figures 3 and 7. Figure 3 shows only the center lines of covering tubes 46A, 46B or wiring 44A, 44B of the wiring member 40 described later. The actuator unit 10 includes a wiring member 40 that is disposed outside the actuators 24A, 24B. To satisfy the condition "disposed outside the actuators 24A, 24B" here, it is sufficient that at least a part of the wiring member 40 is disposed outside the actuators 24A, 24B, and it is not necessary that the entire wiring member 40 is disposed outside the actuators 24A, 24B.

[0026] The wiring member 40 of this embodiment is disposed outside the first and second actuators 24A and 24B. The wiring member 40 electrically connects a first electric device 42A (see FIG. 4) mounted on the first actuator 24A and a second electric device 42B (see FIG. 5) outside the first actuator 24A. The second electric device 42B of this embodiment is mounted on the second actuator 24B, but may be mounted on the actuators 24A and 24B other than the second actuator 24B, or may be provided outside the robot 12 (actuator unit 10). In this embodiment, each of the first and second electric devices 42A and 42B is a circuit board disposed in the actuator casing 36. The electric devices 42A and 42B may be any device that uses electricity, and specific examples thereof are not particularly limited. The electric devices 42A and 42B may be, for example, a motor, a sensor, a brake, or the like, in addition to a circuit board.

[0027] The wiring member 40 includes at least one wiring 44A, 44B. The wiring member 40 of this embodiment includes a plurality of wirings 44A, 44B and covering tubes 46A, 46B bundling the middle parts of the plurality of wirings 44A, 44B. The plurality of wirings 44A, 44B include, for example, a plurality of power supply wirings 44A constituting a power supply line and a plurality of communication wirings 44B constituting a communication line. The power supply line is connected to an external power supply by a daisy chain passing through each of the actuators 24A, 24B, and contributes to the power supply from the external power supply to the actuators 24A, 24B. The communication line is connected to a higher-level controller by a daisy chain passing through each of the actuators 24A, 24B, and contributes to signal transmission between the upper controller and the upper controller. Here, only a part of the power supply wiring 44A and the communication wiring 44B constituting the daisy chain are shown. Although an example is shown in which each of the wires 44A and 44B is mechanically connected to the electric devices 42A and 42B by a connector 48, the manner of connection is not particularly limited, and solder, a terminal block, a terminal (crimp terminal, insulation displacement terminal, etc.), etc. may be used. The connector 48 of this embodiment penetrates an opening provided in the actuator casing 36. In this embodiment, the plurality of communication wires 44B are bundled by a first covering tube 46A, and the first covering tube 46A and the plurality of power supply wires 44A are bundled by a second covering tube 46B. In FIG. 3, circles are attached to the positions of both ends of the second covering tube 46B, which is the outermost. The purpose and number of the wires 44A and 44B are not particularly limited, and the presence or absence of the covering tubes 46A and 46B is also not particularly limited.

[0028] The wiring member 40 includes a first wiring portion 40a (see also FIG. 5) arranged so as to follow the outer shape of the first actuator 24A, and a second wiring portion 40b arranged so as to follow the outer shape of the second actuator 24B. The first wiring portion 40a and the second wiring portion 40b are connected via a first bent portion 40c. The first wiring portion 40a is arranged so as to extend in the first axial direction X, and the second wiring portion 40b is arranged so as to extend in the second axial direction Y. The first wiring portion 40a of this embodiment is arranged so as to extend in the first circumferential direction while extending in the first axial direction X, and the second wiring portion 40b is arranged along the second axial direction Y. The second wiring portion 40b is arranged so as to follow the outer shape of the second actuator 24B in a direction different from the longitudinal direction in which the first wiring portion 40a extends. The first wiring portion 40a is arranged to extend in a first direction that follows the outline of the first actuator 24A, and the second wiring portion 40b is arranged to extend in a second direction that follows the outline of the second actuator 24B and is different from the first direction.

[0029] In addition, the wiring member 40 of this embodiment includes a third wiring portion 40d disposed on the outside in the first axial direction X with respect to the motor-side axial end portion 24b of the first actuator 24A on which the first electric device 42A is provided, and a fourth wiring portion 40e disposed on the outside in the second axial direction Y with respect to the motor-side axial end portion 24b of the second actuator 24B on which the second electric device 42B is provided. The third wiring portion 40d is connected to the first wiring portion 40a via the second bent portion 40f. The fourth wiring portion 40e is connected to the second wiring portion 40b via the third bent portion 40g. In the third wiring portion 40d, a plurality of wirings 44A, 44B are drawn out from one end portion (circled portion on the right side of FIG. 3) of the second covering tube 46B, and the drawn out plurality of wirings 44A, 44B are mechanically connected to the first electric device 42A of the first actuator 24A via individual connectors 48. In the fourth wiring section 40f, multiple wires 44A, 44B are pulled out from the other end of the covering tube (the circled area on the left side of Figure 3), and the multiple wires 44A, 44B pulled out are mechanically connected to the second electrical device 42B of the second actuator 24B via individual connectors 48.

[0030] Please refer to Figures 2, 3, 8, and 9. The actuator unit 10 (robot 12) includes a cover 50 that covers at least the actuators 24A and 24B. The cover 50 of this embodiment is used for the joints 14A and 14B of the robot 12, that is, functions as a robot joint cover. The cover 50 of this embodiment covers both the first and second actuators 24B and the connecting member 22.

[0031] The cover 50 includes a first cover portion 52 that covers at least the first actuator 24A, and a second cover portion 54 that covers at least the second actuator 24B. The first cover portion 52 includes a first peripheral wall portion 52a that covers the outer peripheral portion 24a of the first actuator 24A from the outside in the first radial direction, and a first end wall portion 52b that covers the motor-side axial end portion 24b of the first actuator 24A from the outside in the first axial direction X. A first opening end portion 52c that opens outward in the first axial direction X is provided at an end portion of the first peripheral wall portion 52a opposite to the first end wall portion 52b in the first axial direction X. The second cover portion 54 includes a second peripheral wall portion 54a that covers the outer peripheral portion 24a of the second actuator 24B from the outside in the second radial direction, and a second end wall portion 54b that covers the motor-side axial end portion 24b of the second actuator 24B from the outside in the second axial direction Y. A second opening end 54c that opens outward in the second axial direction Y is provided at the end of the second peripheral wall portion 54a opposite to the second end wall portion 54b in the second axial direction Y.

[0032] 2, 3, and 10. The first peripheral wall 52a includes a first cylindrical portion 52d connected to the first end wall 52b, and a first circumferential portion 52e provided on the opposite side of the first end wall 52b in the first axial direction X from the first cylindrical portion 52d. The first cylindrical portion 52d is cylindrical and surrounds the outer circumferential portion 24a of the first actuator 24A. The first circumferential portion 52e partially covers the outer circumferential portion 24a of the first actuator 24A and partially covers the first cylindrical portion 22c of the connecting member 22, and is circumferential and extends in the first circumferential direction. The first circumferential portion 52e covers the first actuator 24A and the connecting member 22 at least from the opposite side of the second output axis L24B with respect to the first output axis L24A.

[0033] 2, 3, and 11. The second peripheral wall portion 54a includes a second cylindrical portion 54d connected to the second end wall portion 54b, and a second circumferential portion 54e provided on the opposite side of the second end wall portion 54b in the second axial direction Y from the second cylindrical portion 54d. The second cylindrical portion 54d is cylindrical and surrounds the outer circumferential portion 24a of the second actuator 24B. The second circumferential portion 54e partially covers the outer circumferential portion 24a of the second actuator 24B and partially covers the second cylindrical portion 22e of the connecting member 22, and is circumferential and extends in the second circumferential direction. The second circumferential portion 54e covers the second actuator 24B and the connecting member 22 at least from the opposite side of the first output axis L24A with respect to the second output axis L24B.

[0034] Please refer to Figures 8 and 9. The cover 50 has extensions 52f, 54f extending from the peripheral wall portions 52a, 54a of the cover 50. The extensions 52f, 54f include a first extension 52f extending from the peripheral edge portion of the first peripheral wall portion 52a (first peripheral portion 52e) and a second extension 54f extending from the peripheral edge portion of the second peripheral wall portion 54a (second peripheral portion 54e). The first extension 52f covers a part of the connecting member 22 from the opposite side in the second axial direction Y from the second end wall portion 54b of the second cover portion 54 with respect to the first output axis L24A. The second extensions 54f extend from the peripheral edge portions on both sides in the second circumferential direction of the second peripheral wall portion 54a (second peripheral portion 54e) to form a pair. The pair of second extending portions 54f cover a part of the connecting member 22 from both sides in the first axial direction X with respect to the second output axis L24B. Of the pair of second extending portions 54f, the second extending portion 54f on the first end wall portion 52b side extends to the first circumferential wall portion 52a, and a part of it extends to the side opposite the second end wall portion 54b in the second axial direction Y and is connected to the first extending portion 52f.

[0035] 2, 3, 10, and 11. The cover 50 includes cover main bodies 60A and 60B and wiring storage sections 62A and 62B that constitute the cover parts 52 and 54. The cover 50 of this embodiment includes a first cover main body 60A and a first wiring storage section 62A that constitute the first cover part 52, and a second cover main body 60B and a second wiring storage section 62B that constitute the second cover part 54. The first cover main body 60A constitutes the part of the first cover part 52 other than the first wiring storage section 62A. The second cover main body 60B constitutes the part of the second cover part 54 other than the second wiring storage section 62B. The first cover part 52, the first cover main body 60A, the first wiring storage section 62A, and the first actuator 24A correspond to one another, and the second cover part 54, the second cover main body 60B, the second wiring storage section 62B, and the second actuator 24B correspond to one another.

[0036] 2, 12, and 13. The wiring storage sections 62A, 62B bulge in a direction away from the corresponding actuators 24A, 24B more than the corresponding cover main body sections 60A, 60B, and a part of the wiring member 40 is stored inside the wiring storage sections 62A, 62B. The first wiring storage section 62A bulges in a direction away from the first actuator 24A more than the first cover main body section 60A, and the second wiring storage section 62B bulges in a direction away from the second actuator 24B more than the second cover main body section 60B. The wiring storage sections 62A, 62B are provided in at least one of the peripheral wall sections 52a, 54a and the end wall sections 52b, 54b of the corresponding cover sections 52, 54. That is, the first wiring storage section 62A is provided on at least one of the first peripheral wall section 52a and the first end wall section 52b, and the second wiring storage section 62B is provided on at least one of the second peripheral wall section 54a and the second end wall section 54b. In this embodiment, the first wiring storage section 62A is provided on the first peripheral wall section 52a, and the second wiring storage section 62B is provided on the second peripheral wall section 54a. When the wiring storage sections 62A and 62B are provided on the peripheral walls 52a and 54a in this manner, the direction in which they move away from the corresponding actuators 24A and 24B refers to the radial outside of the actuators 24A and 24B. When the wiring storage sections 62A and 62B are provided on the end walls 52b and 54b of the cover 50, the direction in which they move away from the corresponding actuators 24A and 24B refers to the axial outside of the actuators 24A and 24B.

[0037] The first wiring portion 40a of the wiring member 40 is stored inside the first wiring storage portion 62A, and the second wiring portion 40b of the wiring member 40 is stored inside the second wiring storage portion 62B. One end 62Aa of the first wiring storage portion 62A and one end 62Ba of the second wiring storage portion 62B are connected, and the internal spaces for storing the wiring member 40 therein are also communicated. In this embodiment, the other end 62Ab of the first wiring storage portion 62A extends to the first end wall portion 52b of the cover 50, and the other end 62Bb of the second wiring storage portion 62B extends to the second end wall portion 54b of the cover 50. The wiring storage portions 62A and 62B extend linearly as a whole, but may extend linearly, such as in a curved line.

[0038] The direction away from the actuators 24A, 24B and the direction perpendicular (intersecting) to the length direction of the wiring storage parts 62A, 62B are referred to as the width direction Da of the wiring storage parts 62A, 62B. The length direction of the wiring storage parts 62A, 62B here refers to the direction in which an outer protrusion part 66 (an inner groove part 68) which is configured by the wiring storage parts 62A, 62B, which will be described later, extends. The cover main body parts 60A, 60B have a width direction continuous part 64 which is continuous in the width direction Da with respect to the wiring storage parts 62A, 62B. This width direction continuous part 64 is provided so as to follow the outer shape of the actuators 24A, 24B which it covers. Here, "provided so as to follow the outer shape" does not mean that it is provided so as to match the outer shape of the actuators 24A, 24B which it covers, but means that it is provided so as to have a shape similar to the outer shape of the actuators 24A, 24B which it covers as a whole. In this embodiment, the widthwise continuous portion 64 has a circumferential (arcuate) shape that fits along the peripheral walls 52a, 54a of the actuators 24A, 24B. The wiring storage portions 62A, 62B bulge in a direction away from the actuators 24A, 24B relative to the widthwise continuous portions 64 of the cover main bodies 60A, 60B.

[0039] The wiring storage sections 62A, 62B include an outer protrusion 66 formed on the outer surface of the cover 50, and an inner groove 68 formed on the inner surface of the cover 50 and located inside the outer protrusion 66. The outer protrusion 66 is convex in a direction away from the actuators 24A, 24B from the outer surface of the cover main body 60A, 60B (widthwise continuous portion 64) to which the wiring storage sections 62A, 62B are continuous. The outer surface of the outer protrusion 66 is continuous with the outer surface of the cover main body 60A, 60B via a concave surface 70 that is concave toward the inside of the cover 50. The concave surface 70 may be formed by intersecting either a flat surface or a concave curved surface with a flat surface, may be formed by a single concave curved surface, or may be formed by multiple concave curved surfaces with different radii of curvature. The concave surface 70 of this embodiment is formed by a single or multiple concave curved surfaces, and has good design properties by making the inflection points less noticeable. The inner groove 68 is recessed in a direction away from the actuators 24A, 24B from the inner surface of the cover main body parts 60A, 60B (widthwise continuous part 64) to which the wiring storage parts 62A, 62B are continuous. The inner surface of the inner groove 68 is continuous with the inner surface of the cover main body parts 60A, 60B via a convex surface part 72 that is convex toward the inside of the cover 50. The convex surface part 72 may be formed by intersecting either a flat surface or a convex curved surface with a flat surface, may be formed by a single convex curved surface, or may be formed by a plurality of convex curved surfaces with different radii of curvature.

[0040] Please refer to Figures 10 and 14. The cover 50 is divided into at least a first divided body 80 and a second divided body 82. It can also be said that the cover 50 is divided into a plurality of divided bodies 80, 82. As a result, the cover 50 can be obtained by combining the plurality of divided bodies 80, 82. The number of the plurality of divided bodies 80, 82 may be three or more. The divided bodies 80, 82 are, for example, resin molded products formed by three-dimensional shaping or the like, but may also be cast products using metal or the like, and the material and molding method are not particularly limited.

[0041] The multiple segments 80, 82 of this embodiment are provided so as to divide the cover 50 in the first axial direction X. The first segment 80 is provided on the first end wall portion 52b side of the cover 50 with respect to boundaries 84a, 84b between the first and second segments 80, 82, and the second segment 82 is provided on the opposite side of the boundaries 84a, 84b from the first end wall portion 52b in the first axial direction X. The boundaries 84a, 84b of the first segment 80 and the second segment 82 include a first boundary portion 84a that divides the first cover portion 52 and a second boundary portion 84b that divides the second cover portion 54 in the first axial direction X.

[0042] The second boundary 84b is provided so as to divide the second wiring storage section 62B in the first axial direction X. The second wiring storage section 62B is formed by at least the first divided body 80 and the second divided body 82, and the second boundary 84b is provided so as to divide the second wiring storage section 62B in the width direction Da of the second wiring storage section 62B. As a result, the second wiring storage section 62B can be obtained by combining the multiple divided bodies 80, 82. In this embodiment, the first wiring storage section 62A is formed only by the first divided body 80.

[0043] Please refer to FIG. 8 and FIG. 9. The cover 50 has cover fixing parts 86A, 86B for fixing to a mating member, which is either the actuators 24A, 24B or the connecting member 22. In this embodiment, each of the divided bodies 80, 82 has an individual cover fixing part 86A, 86B. In this embodiment, the first divided body 80 has a first cover fixing part 86A for fixing to the connecting member 22 as the mating member, and the second divided body 82 has a second cover fixing part 86B for fixing to the connecting member 22 as the mating member. In this embodiment, the first cover fixing part 86A is provided at a part that becomes the first peripheral wall part 52a of the cover 50, as well as at a part that becomes the second peripheral wall part 54a of the cover 50. The first cover fixing part 86A is fixed to the mating member by using a first fastener such as a bolt. In this embodiment, the second cover fixing portion 86B is provided at a location that will become the second extending portion 54f, in addition to a location that will become the boundary between the second circumferential wall portion 54a and the second extending portion 54f of the cover 50. The second cover fixing portion 86B is fixed to a mating member using a second fastener such as a bolt. Here, the case where the cover fixing portions 86A, 86B are fixed to the connecting member 22 has been described, but when the cover fixing portions 86A, 86B are fixed to the actuators 24A, 24B, they may be fixed to the actuator casing 36, for example.

[0044] Please refer to Figures 15 and 16. An engaging portion 90 is provided on one of the first and second divided bodies 80, 82 (here, the second divided body 82). An engaged portion 92 with which the engaging portion 90 engages is provided on the other of the first and second divided bodies 80, 82 (here, the first divided body 80). Adjacent divided bodies 80, 82 are connected by the engaging portion 90 engaging with the engaged portion 92. For example, the engaging portion 90 is a resilient claw that can be elastically flexibly deformed, and the engaged portion 92 is a claw receiving portion that receives the resilient claw.

[0045] An engagement unit 94 consisting of a pair of an engaging portion 90 and an engaged portion 92 is provided at the boundary portion 84b between adjacent segments 80, 82. In this embodiment, a plurality of engagement units 94 are provided at the second boundary portion 84b between adjacent segments 80, 82. In this embodiment, the engagement units 94 are provided at the second end wall portion 54b of the cover 50. The engagement units 94 are provided inside each segment 80, 82 so as not to be visible from the outside.

[0046] The adjacent divided bodies 80, 82 are moved relatively to each other in a connection direction Db so that they approach each other, whereby the engaging portion 90 engages with the engaged portion 92, and the two are connected to each other. In this process, the elastic claws constituting the engaging portion 90 are engaged with the claw receiving portion due to elastic bending deformation. In addition, the adjacent divided bodies 80, 82 are moved relatively to each other in a connection release direction Dc so that they move away from each other, whereby the engaging portion 90 is released from the engagement with the engaged portion 92, and the two are disconnected from each other. In this process, the elastic claws constituting the engaging portion 90 are released from the engagement with the claw receiving portion due to elastic bending deformation. The connection direction Db and the connection release direction Dc are parallel to the direction in which the adjacent divided bodies 80, 82 face each other at the boundary portion 84b, and in this embodiment, are along the first axial direction X (the width direction Da of the second wiring storage portion 62B).

[0047] The assembly procedure of the actuator unit 10 (robot 12) using the above-mentioned cover 50 will be described. Refer to FIG. 14. First, the components of the actuator unit 10 (robot 12) except for the cover 50 are assembled in advance. Here, the fixed portion 32c (not shown) of the first actuator 24A is fixed to the first robot member 16A, and the connecting member 22 (second robot member 16B) is fixed to the output portion 32d (not shown) of the first actuator 24A. Although not shown, the fixed portion 32c of the second actuator 24B is fixed to the connecting member 22, and the third robot member 16C is fixed to the output portion 32d of the second actuator 24B. In addition to this, other components of the robot 12 are also assembled here.

[0048] In this state, the first divided body 80 is moved toward the first opening end 52c (the right side of the paper in the figure) in the first axial direction X, thereby inserting the first actuator 24A inside the portion that will become the first opening end 52c of the first divided body 80. At this time, the connecting member 22 is also inserted inside the portion that will become the first opening end 52c of the first divided body 80. As a result, the first wiring portion 40a of the wiring member 40 is disposed in the first wiring storage portion 62A of the first divided body 80. Thereafter, the first cover fixing portion 86A of the first divided body 80 is fixed to a mating member (here, the connecting member 22) using a first fixing tool.

[0049] Next, the second divided body 82 is moved toward the side approaching the first divided body 80 in the first axial direction X (to the left side of the paper in the figure). As a result, the first divided body 80 and the second divided body 82 are moved relatively in the connection direction Db described above, and the first divided body 80 and the second divided body 82 are connected by the engagement unit 94 described above. As a result, the first and second actuators 24A and 24B are arranged inside the first and second divided bodies 80 and 82. Also, the second wiring portion 40b of the wiring member 40 is arranged in the second wiring storage portion 62B of each divided body 80 and 82. After this, the second cover fixing portion 86B (not shown) of the second divided body 82 is fixed to the mating member (here, the connecting member 22) using the second fixing tool. In these processes, the divided bodies 80 and 82 are moved toward each other in the width direction Da of the second wiring storage portion 62B.

[0050] Assume that the first actuator 24A, the first wiring portion 40a of the wiring member 40, and the first cover portion 52 of the cover 50 are not present, and only the second actuator 24B, the second wiring portion 40b of the wiring member 40, and the second cover portion 54 of the cover 50 are present. In this case, when the second cover portion 54 of the cover 50 is moved along the length direction of the second wiring storage portion 62B (here, the direction perpendicular to the paper surface) to cover the outside of the second actuator 24B and the second wiring portion 40b of the wiring member 40, the second wiring storage portion 62B of the second cover portion 54 is likely to interfere with the second wiring portion 40b of the wiring member 40.

[0051] (A) In this regard, the two divided bodies 80, 82 in this embodiment are provided so as to divide the second wiring storage section 62B in the width direction Da. Therefore, by moving the individual divided bodies 80, 82 from both sides of the width direction Da of the second wiring storage section 62B in a direction approaching each other with respect to the second wiring section 40b of the wiring member 40, the second cover portion 54 of the cover 50 can be placed on the outside of the second actuator 24B and the second wiring section 40b of the wiring member 40. Therefore, when placing the second cover portion 54 of the cover 50 on the outside of the second actuator 24B and the second wiring section 40b of the wiring member 40, the second wiring section 40b of the wiring member 40 and the cover 50 are less likely to interfere with each other, and good assembly properties can be obtained.

[0052] The first wiring storage section 62A of the first cover section 52 is provided so as to extend in the first axial direction X, and the boundaries 84a, 84b (see FIG. 10) between the two divided bodies 80, 82 are provided so as to divide the second wiring storage section 62B of the second cover section 54 in the first axial direction X. In the case of this structure, as described above, when the first divided body 80 is moved in the first axial direction X toward the first opening end 52c (to the right side of the paper in the figure), the first wiring section 40a of the wiring member 40 can be inserted along the inside of the first wiring storage section 62A of the first divided body 80. Also, at this time, the second wiring section 40b of the wiring member 40 can be inserted inside the portion of the first divided body 80 where the second wiring storage section 62B is formed. Furthermore, as described above, when the second divided body 82 is moved toward the first divided body 80 in the first axial direction X (to the left side of the paper in the figure), the second wiring portion 40b of the wiring member 40 can be inserted inside the portion forming the second wiring storage portion 62B of the second divided body 82. This allows the cover 50 to be assembled without significant interference with the first wiring portion 40a and the second wiring portion 40b, even when the wiring member 40 includes the first wiring portion 40a and the second wiring portion 40b.

[0053] The effects of the above actuator unit 10 (robot 12) will now be described.

[0054] The cover 50 includes wiring storage sections 62A, 62B that bulge out in a direction away from the actuators 24A, 24B more than the cover main bodies 60A, 60B and store the wiring member 40 therein. Thus, the cover main bodies 60A, 60B are as close as possible to the outer shape of the actuators 24A, 24B, while the storage space for the wiring member 40 can be secured in the wiring storage sections 62A, 62B that bulge out more than the cover main bodies 60A, 60B. Therefore, in a cross section perpendicular to the length direction of the wiring storage sections 62A, 62B, the inner surface of a part of the cover main bodies 60A, 60B (the widthwise continuous portion 64 of the cover main bodies 60A, 60B) can be prevented from becoming thicker than in a case where the inner surface is also separated from the outer shape of the actuators 24A, 24B by the same amount as the minimum distance from the outer shape of the actuators 24A, 24B to the bottom of the wiring storage sections 62A, 62B. This in turn helps to reduce the size of the actuator unit 10.

[0055] By accommodating a part of the wiring member 40 in the wiring storage sections 62A, 62B of the cover 50, it is possible to limit movement of the wiring member 40 in the width direction within the wiring storage sections 62A, 62B. In turn, it is possible to reduce the risk that the end of the wiring member 40 becomes detached from the electric devices 42A, 42B due to movement of the wiring member 40.

[0056] Adjacent divided bodies 80, 82 are connected by engaging the engaging portion 90 of one of the first and second divided bodies 80, 82 with the engaged portion 92 of the other. Therefore, it is possible to connect parts of adjacent divided bodies 80, 82 without using a dedicated member (screw, etc.) for connecting adjacent divided bodies 80, 82. In particular, when the divided bodies 80, 82 having a three-dimensional shape are made of a resin molded product molded by three-dimensional molding, the distance at the boundary between adjacent divided bodies 80, 82 is likely to vary due to the influence of molding errors. Depending on the magnitude of this variation, a large gap may partially occur between adjacent divided bodies 80, 82. In this regard, the adjacent divided bodies 80, 82 in this embodiment are moved relatively in the connecting direction Db so as to approach each other, so that the engaging portion 90 engages with the engaged portion 92. For this reason, even if such a large partial gap occurs, the adjacent divided bodies 80, 82 can be moved relatively in the connection direction Db that narrows the gap, and then the engaging portion 90 can be engaged with the engaged portion 92. Thus, it is possible to connect the adjacent divided bodies 80, 82 with the gap narrowed or eliminated.

[0057] The cover 50 covers both the first and second actuators 24A, 24B. Therefore, the first and second actuators 24A, 24B that drive the individual joints 14A, 14B can be covered by a common cover 50. This allows for a reduction in the number of parts related to the cover 50 compared to using individual covers 50 for the first and second actuators 24A, 24B.

[0058] The cover 50 includes a first wiring storage portion 62A that stores the first wiring portion 40a of the wiring member 40, and a second wiring storage portion 62B that stores the second wiring portion 40b. Thus, the first and second wiring portions 40a, 40b arranged along the individual actuators 24A, 24B can be stored in the first and second wiring storage portions 62A, 62B of the common cover 50, respectively.

[0059] The cover 50 covers the first and second actuators 24A, 24B as well as the connecting member 22. Therefore, by covering the boundary between the first actuator 24A and the connecting member 22 and the boundary between the second actuator 24B and the connecting member 22 with the cover 50, a neat appearance can be achieved.

[0060] Next, a modified form of the cover 50 will be described. See Fig. 17(A) and Fig. 17(B). The cover 50 may include a restraining portion 100 that restrains the movement of the middle portion of the wiring member 40. The restraining portion 100 is provided in the inner groove portion 68 of the wiring storage portion 62A. The restraining portion 100 is composed of a pair of rib portions 100a provided on the pair of inner surfaces of the inner groove portion 68. The pair of rib portions 100a are provided so as to protrude from the inner surface in a direction narrowing the groove width of the inner groove portion 68. By disposing a part of the wiring member 40 in the restraining portion 100, the movement of the part in the width direction Da of the wiring storage portion 62A is restrained compared to the case where the restraining portion 100 is not present. This can reduce the risk that the end portion of the wiring member 40 will come off the electric devices 42A and 42B due to the movement of the middle portion of the wiring member 40.

[0061] Although an example in which movement of the wiring member 40 in the width direction Da is restrained has been described here, movement of the wiring member 40 in a direction approaching the actuator 24A (the downward direction in the plane of the paper in FIG. 16(B)) may also be restrained. This may be achieved, for example, by providing a portion in which the groove width is narrowed midway from the back side of the inner groove portion 68 toward the entrance side. Also, although an example in which the restraining portion 100 is provided in the wiring storage portion 62 has been described, the restraining portion 100 may also be provided inside the cover main body portions 60A, 60B at a location other than the wiring storage portion 62. Also, the number of restraining portions 100 of the cover 50 is not particularly limited, and there may be more than one.

[0062] 18 to 26 are diagrams showing the cover 50 of the embodiment. The shading in these drawings is intended to specify the shape, and does not specify the pattern or color.

[0063] A variation of the above embodiment will now be described.

[0064] Thus far, the robot 12 has been described as an example of the actuator unit 10 to which the cover 50 is applied, but the specific example is not particularly limited. In addition to the robot 12, the actuator unit 10 may be used as a part of various industrial machines (machine tools, construction machines, etc.), transportation equipment (conveyors, vehicles, etc.), etc.

[0065] The actuator unit 10 may include only the first actuator 24A, and may not include the connecting member 22 or the second actuator 24B. This assumes, for example, that the actuator unit 10 is other than the robot 12. In this case, the cover 50 only needs to cover the first actuator 24A.

[0066] When the actuator unit 10 is a robot 12, the cover 50 may cover only the first actuator 24A, and may not cover either or both of the connecting member 22 and the second actuator 24B.

[0067] There is no particular limitation on the number of actuator stages covered by the cover 50. For example, the first and second stage actuators 24 may be covered by a common cover 50, or the fourth and fifth stage actuators may be covered by a common cover 50.

[0068] In covering both the first and second actuators 24A, 24B with the cover 50, the wiring member 40 may include only the first wiring portion 40a that follows the outer shape of the first actuator 24A, and may not include the second wiring portion 40b that follows the outer shape of the second actuator 24B. In this case, the cover 50 may include only the first cover main body portion 60A that covers the first actuator 24A, the second cover main body portion 60B that covers the second actuator 24B, and the first wiring storage portion 62A formed in the first actuator 24A, and may not include the second wiring storage portion 62B.

[0069] The cover 50 does not have to be divided into a plurality of divided bodies 80, 82. For example, when the actuator unit 10 includes only the first actuator 24A, the first actuator 24A may be covered by the cover 50 of a single member. The boundary between the two divided bodies 80, 82 may be provided so as to divide the wiring storage sections 62A, 62B formed by the two divided bodies 80, 82 in the length direction. The boundary between the two divided bodies 80, 82 may also be provided so as to divide a portion of the cover 50 other than the wiring storage sections 62A, 62B. The adjacent divided bodies 80, 82 do not have to be connected using the engagement unit 94.

[0070] In order to obtain the same effect as the above-mentioned (A), it is sufficient that the first actuator 24A, the first wiring portion 40a of the wiring member 40, and the first cover portion 52 and the first wiring storage portion 62A of the cover 50 are present, and the second actuator 24B, the second wiring portion 40b of the wiring member 40, and the second cover portion 54 of the cover 50 are not essential. In addition, in order to obtain the same effect in relation to the first actuator 24A, it is sufficient that a boundary portion between the two divided bodies 80, 82 is provided so as to divide the first wiring storage portion 62A of the first cover portion 52 of the cover 50 in the width direction. In relation to the first actuator 24A, etc., the effect of the above-mentioned (A) can be understood by replacing the second actuator 24B, the second wiring portion 40b of the wiring member 40, the second cover portion 54 of the cover 50, and the second wiring storage portion 62B with the first actuator 24A, the first wiring portion 40a of the wiring member 40, the first cover portion 52 of the cover 50, and the first wiring storage portion 62A.

[0071] The above-mentioned embodiments and modified forms are merely examples. The technical ideas abstracted from these should not be interpreted as being limited to the contents of the embodiments. Many design changes are possible in the contents of the embodiments, such as changes, additions, and deletions of components. In the above-mentioned embodiments, the contents in which such design changes are possible are emphasized by adding the notation "embodiment". However, design changes are also permitted even in contents without such notation. The hatching on the cross sections of the drawings does not limit the material of the hatched object. [Explanation of symbols]

[0072] 10...actuator unit, 12...robot, 14A...first joint portion, 14B...second joint portion, 22...connecting member, 24A...first actuator, 24A, 24B...second actuator, 40...wiring member, 40a...first wiring portion, 40b...second wiring portion, 50...cover, 60A, 60B...cover main body, 62A...first wiring storage portion, 62B...second wiring storage portion, 80...first divided body, 80, 82...second divided body, 90...engaging portion, 92...engaged portion, 100...restraining portion.

Claims

1. A robot comprising: a joint; an actuator that drives the joint; a wiring member that is disposed on an outer side of the actuator; and a cover that covers at least the actuator, The cover of the robot includes a cover main body and a wiring storage section that bulges out in a direction away from the actuator more than the cover main body and stores the wiring member therein.

2. The robot according to claim 1 , wherein the cover is divided into at least a first divided body and a second divided body.

3. The robot according to claim 2 , wherein the wiring storage section is formed by at least the first divided body and the second divided body.

4. The robot according to claim 3 , wherein a boundary portion between the first divided body and the second divided body is provided so as to divide the wiring storage portion in a width direction.

5. The robot according to claim 2 , wherein the first divided body and the second divided body are connected by an engaging portion provided on one of the first divided body and the second divided body engaging with an engaged portion provided on the other divided body.

6. The joint portion includes a first joint portion and a second joint portion, The actuator includes a first actuator that drives the first joint portion and a second actuator that drives the second joint portion, The robot according to claim 1 , wherein the cover covers both the first actuator and the second actuator.

7. the wiring member includes a first wiring portion disposed so as to follow an outer shape of the first actuator, and a second wiring portion disposed so as to follow an outer shape of the second actuator, The robot according to claim 6 , wherein the wiring storage section includes a first wiring storage section that stores the first wiring section, and a second wiring storage section that stores the second wiring section.

8. a connecting member that connects the first actuator and the second actuator, The robot according to claim 6 , wherein the cover covers the connecting member.

9. The robot according to claim 1 , wherein the cover includes a restraining portion that restrains movement of a middle portion of the wiring member.

10. A cover for an actuator unit including an actuator and a wiring member disposed outside the actuator, the cover covering the actuator comprising: A cover main body portion; a wiring storage portion that bulges out in a direction away from the actuator more than the cover main body portion and stores the wiring member therein.

Images