Robot

Abstract

To provide a robot that is configured to prevent components from interfering with each other to facilitate attachment and detachment of the components.SOLUTION: The robot comprises: a base; a robot arm that turns with respect to the base; a speed reducer that connects the base to the robot arm; a motor connected to the speed reducer; a control substrate that controls driving of the motor; and a power supply substrate that supplies power to the control substrate. The base has: a first enclosure mounted with at least one of the speed reducer, the motor, the control substrate and the power supply substrate; and a second enclosure mounted with at least one excluding the one mounted on the first enclosure of the speed reducer, the motor, the control substrate and the power supply substrate.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] The robot described in Patent Document 1 has a robot main body including a base and a robot arm displaceably connected to the base. The robot arm has a first arm rotatably connected to the base, a second arm rotatably connected to the first arm, a third arm rotatably connected to the second arm, a fourth arm rotatably connected to the third arm, a fifth arm rotatably connected to the fourth arm, and a sixth arm rotatably connected to the fifth arm.

[0003] The robot described in Patent Document 1 has a reducer that rotatably connects the base and the first arm, and a motor that rotates the first arm via the reducer, all of which are housed within the base. The base also houses a control board for controlling the drive of the robot body, a power supply board for supplying power to the control board, and a drive board for driving the motors arranged on each arm based on commands from the control board. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-063933 Summary of the Invention [Problem to be solved by the invention]

[0005] In this manner, in a configuration in which many parts are housed in the base, there is a problem in that it is time-consuming to attach and detach parts due to interference between the parts. [Means for solving the problem]

[0006] The robot of the present invention comprises: a base; a robot arm that rotates relative to the base; a reducer that connects the base and the robot arm; a motor connected to the reducer; a control board for controlling the driving of the motor; a power supply board that supplies power to the control board, The base has a first housing in which at least one of the reducer, the motor, the control board and the power supply board is mounted, and a second housing in which at least one of the reducer, the motor, the control board and the power supply board other than the one mounted in the first housing is mounted.

[0007] The robot of the present invention comprises: a base; a robot arm that rotates relative to the base; a reducer that connects the base and the robot arm; a motor connected to the reducer; a control board for controlling the driving of the motor; a power supply board that supplies power to the control board; a fan; The base has a first housing in which at least one of the reducer, the motor, the control board, the power supply board and the fan is mounted, and a second housing in which at least one of the reducer, the motor, the control board, the power supply board and the fan excluding the one mounted in the first housing is mounted. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a side view showing a robot according to a first embodiment. [Figure 2] FIG. 10 is a cross-sectional view of the base as seen from the positive side in the X-axis direction. [Figure 3] FIG. 10 is a cross-sectional view of the base as seen from the negative Y-axis direction. [Figure 4] 10A to 10C are cross-sectional views for explaining the assembly procedure of the base. [Figure 5] 10A to 10C are cross-sectional views for explaining the assembly procedure of the base. [Figure 6] 10A to 10C are cross-sectional views for explaining the assembly procedure of the base. [Figure 7] 10A to 10C are cross-sectional views for explaining the assembly procedure of the base. [Figure 8] 10A to 10C are cross-sectional views for explaining the assembly procedure of the base. [Figure 9] 10A to 10C are cross-sectional views for explaining the assembly procedure of the base. [Figure 10] FIG. 10 is a cross-sectional view showing a modified example of the base. [Figure 11] FIG. 10 is a cross-sectional view showing a modified example of the base. [Figure 12] FIG. 10 is a cross-sectional view showing a modified example of the base. [Figure 13] FIG. 10 is a cross-sectional view showing a modified example of the base. [Figure 14] FIG. 10 is a cross-sectional view of a base provided in a robot according to a second embodiment. [Figure 15] 10A to 10C are cross-sectional views for explaining the assembly procedure of the base. [Figure 16] 10A to 10C are cross-sectional views for explaining the assembly procedure of the base. [Figure 17] 10A to 10C are cross-sectional views for explaining the assembly procedure of the base. [Figure 18] FIG. 11 is a cross-sectional view of a base provided in a robot according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A robot according to the present invention will now be described in detail with reference to the embodiments shown in the accompanying drawings.

[0010] First Embodiment FIG. 1 is a side view showing a robot according to a first embodiment. FIG. 2 is a cross-sectional view of the base as seen from the positive side in the X-axis direction. FIG. 3 is a cross-sectional view of the base as seen from the negative side in the Y-axis direction. FIGS. 4 to 9 are cross-sectional views for explaining the assembly procedure of the base. FIGS. 10 to 13 are cross-sectional views showing modified examples of the base.

[0011] As shown in FIG. 1, the robot 1 is a six-axis vertical articulated robot having six drive axes. The robot 1 includes a base 21 fixed to the floor and a robot arm 22 rotatably connected to the base 21. The robot arm 22 includes six arms 221, 222, 223, 224, 225, and 226 rotatably connected in this order from the base 21 side, and includes six joints J1, J2, J3, J4, J5, and J6. Specifically, the arm 221 is rotatably connected to the base 21 via the joint J1. The arm 222 is rotatably connected to the arm 221 via the joint J2. The arm 223 is rotatably connected to the arm 222 via the joint J3. The arm 224 is rotatably connected to the arm 223 via the joint J4. The arm 225 is rotatably connected to the arm 224 via the joint J5. Furthermore, the arm 226 is rotatably connected to the arm 225 via a joint J6.

[0012] Of the joints J1 to J6, joints J2, J3, and J5 are bending joints, and joints J1, J4, and J6 are torsion joints. Each of the joints J1 to J6 is equipped with a drive mechanism 3 that includes a motor, a reducer that reduces the speed of the motor's rotation to increase and output a rotational force (torque), and an encoder that detects the amount of rotation of the motor. By independently moving each of the joints J1 to J6, the tip of the robot arm 22 can be moved in a desired direction at a desired posture and speed.

[0013] The overall configuration of the robot 1 has been briefly described above. Next, the base 21 will be described in detail. As shown in FIGS. 2 and 3 , the base 21 contains drive mechanisms 3 for driving the joints J1, a control board 4 for driving each drive mechanism 3, and a power supply board 5 for supplying power to the control board 4. Although not shown, in addition to these main components, other components, including metal fittings for securing each component to the base 21, are also present. Despite the large number of components contained within the base 21, there is a need to reduce the size of the base 21, for example, to reduce the installation area of ​​the robot 1. Therefore, it is difficult to secure sufficient space within the base 21, and interference between components can lead to problems with attachment and detachment of components, i.e., the assembly and disassembly of the base 21 can be time-consuming. Therefore, in the robot 1, the base 21 is divided into multiple housings, and the above-mentioned components are attached to the multiple housings separately, thereby facilitating the attachment and detachment of each component to the base 21.

[0014] The base 21 will be described in detail below, but before that, the configurations of the drive mechanism 3, control board 4, and power supply board 5 will first be described.

[0015] <Drive mechanism 3> As shown in Figures 2 and 3, the drive mechanism 3 for driving the joint J1 has a motor 31 with a built-in encoder, a reducer 32 that reduces the rotation of the motor 31 and outputs it to the arm 221, and a power transmission mechanism 33 that transmits power from the motor 31 to the reducer 32.

[0016] The reducer 32 is a hollow reducer provided with a through hole H that connects the space inside the base 21 with the space inside the arm 221, and is a strain wave gear device in this embodiment. By using a strain wave gear device as the reducer 32, it is possible to reduce backlash in the reducer 32 and more precisely control the movement of the arm 221. However, the reducer 32 is not particularly limited, and may be a planetary gear device, a roller cam reduction device, or the like.

[0017] The reducer 32 is mainly composed of a circular spline 321, a flexspline 322, and a wave generator 323. The circular spline 321 is screwed to the base 21, the flexspline 322 is screwed to the arm 221, and the wave generator 323 is connected to the motor 31 via the power transmission mechanism 33. In particular, in this embodiment, the wave generator 323 is cylindrical and has a through hole H. A wire L passes through the through hole H and is routed between the base 21 and the robot arm 22. With this configuration, the wire L can be inserted into the joint J1, making it easy to route the wire L. Furthermore, for example, if the wire L is routed from outside the joint J1 between the base 21 and the robot arm 22, a conduit tube or the like is required to prevent the wire L from being exposed, which results in increased costs, weight, increased unnecessary vibrations, and reduced waterproof and dustproof performance of the robot 1.

[0018] The power transmission mechanism 33 also has a first pulley 331 attached to the output shaft of the motor 31, a second pulley 332 attached to the wave generator 323 of the reducer 32, and a belt 333 wound around the first and second pulleys 331 and 332. Therefore, the rotation of the motor 31 is transmitted to the wave generator 323 of the reducer 32 via the first pulley 331, the belt 333, and the second pulley 332, causing the wave generator 323 to rotate. Furthermore, the flexspline 322 rotates at a predetermined reduction ratio relative to the rotation of the wave generator 323, causing the arm 221 to rotate around the rotation axis of the joint J1 relative to the base 21.

[0019] In this way, the configuration in which the rotation of the motor 31 is transmitted to the reducer 32 via the power transmission mechanism 33 increases the degree of freedom in arranging the motor 31. Therefore, the motor 31 can be arranged at a position that does not interfere with the control board 4 and the power supply board 5. Furthermore, the power transmission mechanism 33 allows the motor 31 to be arranged horizontally offset from the reducer 32, which effectively prevents the lower opening of the through-hole H of the reducer 32 from overlapping and being blocked by the motor 31. This makes it easier to route the wiring L. Furthermore, for example, by adjusting the diameters of the first pulley 331 and the second pulley 332, the power transmission mechanism 33 can also be used as a reducer, and a larger reduction ratio can be achieved by using the reducer 32 and the power transmission mechanism 33.

[0020] Although the drive mechanism 3 has been described above, the configuration of the drive mechanism 3 is not particularly limited. For example, the reducer 32 does not have to be a wave gear device. Furthermore, the power transmission mechanism 33 may be omitted, and the output shaft of the motor 31 may be directly attached to the wave generator 323 of the reducer 32.

[0021] <Control board 4> The control board 4 can independently control the driving of the motors of the drive mechanisms 3 provided at the joints J1 to J6. Such a control board 4 includes a board on which wiring is provided, and a central processing unit (CPU) as an example of a processor, a random access memory (RAM), a read-only memory (ROM) in which a program is stored, and the like, which are provided on the board. The CPU reads and executes the program stored in the ROM, thereby achieving the function of a control unit that controls the driving of the robot 1. For ease of explanation, only the board of the control board 4 is shown, and the components provided on the board are not shown. In addition, although the present embodiment uses one control board 4, the number of control boards 4 is not limited to one, and two or more boards may be used.

[0022] <Power supply board 5> The power supply board 5 supplies power to the control board 4. The power supply board 5 includes a board on which wiring is provided and a conversion circuit provided on the board for converting externally supplied power into a predetermined value. The conversion circuit varies depending on the configuration of the robot 1, but examples include an AC / DC conversion circuit that converts an alternating current (AC) signal into a direct current (DC) signal, and a step-up circuit or step-down circuit that converts the voltage level of a signal. For ease of explanation, only the board of the power supply board 5 is shown, and the components provided on the board are not shown. In addition, although the present embodiment uses one power supply board 5, the number is not limited to one and may be two or more.

[0023] The above has described the configurations of the drive mechanism 3, control board 4, and power supply board 5. Next, the configuration of the base 21 and the arrangement of the drive mechanism 3, control board 4, and power supply board 5 within the base 21 will be described.

[0024] As shown in FIG. 2, the base 21 has a box-shaped first housing 23 that forms the bottom and sidewalls of the base 21, and a plate-shaped second housing 24 that forms the top of the base 21. Furthermore, as shown in FIG. 3, the first housing 23 has a housing main body 231 and a cover member 232. The housing main body 231 is the base of the base 21 and has a first opening 231a that is an opening on the top surface and a second opening 231b that is an opening on the side surface. In particular, in this embodiment, the second opening 231b is formed on the back surface of the housing main body 231, that is, on the surface located on the positive side in the X-axis direction. The first opening 231a is blocked by the second housing 24, and the second opening 231b is blocked by the cover member 232.

[0025] As shown in FIG. 2, the second housing 24 is placed on the top surface of the housing main body 231 and blocks the first opening 231a. Meanwhile, as shown in FIG. 3, the cover member 232 is disposed on the back surface of the housing main body 231 and blocks the second opening 231b. The second housing 24 and the cover member 232 are each fixed to the housing main body 231 by screws. Screwing facilitates attachment and detachment of the second housing 24 and the cover member 232 to and from the housing main body 231. However, the fixing method is not limited to screws and may be, for example, fitting or screwing. Although not shown, waterproof and dustproof gaskets are interposed between the housing main body 231 and the second housing 24, and between the housing main body 231 and the cover member 232. This effectively prevents moisture, dust, and the like from entering the base 21. However, the waterproof and dustproof gaskets may be omitted.

[0026] 3, the control board 4 and the power supply board 5 are attached to the cover member 232, and the drive mechanism 3 is attached to the second housing 24. By attaching the drive mechanism 3, the control board 4, and the power supply board 5 separately to the first housing 23 and the second housing 24 in this way, the drive mechanism 3, the control board 4, and the power supply board 5 can be easily attached and detached.

[0027] For example, when assembling the drive mechanism 3 to the base 21, the following steps may be performed: attaching the drive mechanism 3, i.e., the motor 31, the reducer 32, and the power transmission mechanism 33, to the second housing 24 removed from the first housing 23, as shown in Fig. 4; inserting the drive mechanism 3 into the housing main body 231 through the first opening 231a and placing the second housing 24 on the top surface of the housing main body 231, as shown in Fig. 5; and fastening the second housing 24 to the housing main body 231 with screws to close the first opening 231a, as shown in Fig. 6. Conversely, when removing the drive mechanism 3 from the base 21, the following steps may be performed: removing the screws fastening the second housing 24 to the housing main body 231, and lifting the second housing 24 and pulling out the drive mechanism 3 from the housing main body 231 through the first opening 231a.

[0028] As described above, according to the robot 1, by attaching or detaching the second housing 24 to or from the housing main body 231, the drive mechanism 3 can be attached or detached from or to the housing main body 231 all at once. This makes it easy to attach or detach the drive mechanism 3. Furthermore, by screwing the second housing 24 to the housing main body 231, the drive mechanism 3 is automatically positioned. Furthermore, with the second housing 24 removed from the housing main body 231, that is, in a large space outside the base 21, the drive mechanism 3 can be assembled to the second housing 24, and adjustment and maintenance of the drive mechanism 3 can be performed. This makes it possible to perform these actions easily and accurately. In particular, in this embodiment, the second housing 24 can be placed on the housing main body 231. This makes it easy to screw the second housing 24 to the housing main body 231.

[0029] Furthermore, for example, when assembling the control board 4 and the power supply board 5 to the base 21, the following steps may be performed: attaching the control board 4 and the power supply board 5 to the cover member 232 removed from the housing main body 231, as shown in Fig. 7; inserting the control board 4 and the power supply board 5 into the housing main body 231 through the second opening 231b and arranging the cover member 232 on the back surface of the housing main body 231, as shown in Fig. 8; and fastening the cover member 232 to the housing main body 231 with screws to close the second opening 231b, as shown in Fig. 9. Conversely, when removing the control board 4 and the power supply board 5 from the base 21, the following steps may be performed: removing the screws fastening the cover member 232 to the housing main body 231, and removing the cover member 232 and pulling out the control board 4 and the power supply board 5 from inside the housing main body 231 through the second opening 231b.

[0030] As described above, according to the robot 1, by attaching and detaching the cover member 232 to and from the housing main body 231, the control board 4 and the power supply board 5 can be attached and detached together from and to the housing main body 231. This makes it easy to attach and detach the control board 4 and the power supply board 5. Furthermore, by fastening the cover member 232 to the housing main body 231 with screws, the control board 4 and the power supply board 5 are automatically positioned. Furthermore, with the cover member 232 removed from the housing main body 231, that is, in a large space outside the base 21, the control board 4 and the power supply board 5 can be assembled to the cover member 232, and adjustment and maintenance of the control board 4 and the power supply board 5 can be performed, so these actions can be performed easily and accurately.

[0031] In particular, in this embodiment, the control board 4 and the power supply board 5 are each attached directly to the cover member 232 without using support members such as metal fittings. This reduces the number of components inside the base 21, which in turn creates more space inside the base 21 and effectively prevents interference between the components. However, this is not limiting, and the control board 4 and the power supply board 5 may each be fixed to the cover member 232 via support members such as metal fittings.

[0032] The robot 1 has been described above. As described above, the robot 1 includes the base 21, the robot arm 22 that rotates relative to the base 21, the reducer 32 that connects the base 21 and the robot arm 22, the motor 31 connected to the reducer 32, the control board 4 that controls the driving of the motor 31, and the power supply board 5 that supplies power to the control board 4. The base 21 includes a first housing 23 to which at least one of the reducer 32, the motor 31, the control board 4, and the power supply board 5 is attached, and a second housing 24 to which at least one of the reducer 32, the motor 31, the control board 4, and the power supply board 5 is attached, excluding the one that is attached to the first housing 23. By distributing the reducer 32, the motor 31, the control board 4, and the power supply board 5 between the first housing 23 and the second housing 24, the second housing 24 can be attached and detached from the first housing 23, thereby easily attaching and detaching the components while effectively suppressing interference between the components.

[0033] As described above, the control board 4 and the power supply board 5 are attached to the first housing 23, and the reducer 32 and the motor 31 are attached to the second housing 24. By attaching the reducer 32 and the motor 31 to the second housing 24 in this way, the reducer 32 and the motor 31 can be attached and detached together by attaching and detaching the second housing 24 to and from the first housing 23. Therefore, with the second housing 24 removed from the first housing 23, the assembly, adjustment, and maintenance of the reducer 32 and the motor 31 can be performed easily.

[0034] As described above, the second housing 24 is further fitted with a power transmission mechanism 33 that connects the motor 31 and the reducer 32 and transmits the driving force of the motor 31 to the reducer 32. The power transmission mechanism 33 has a first pulley 331 connected to the output shaft of the motor 31, a second pulley 332 connected to the input side of the reducer 32, and a belt 333 wound around the first pulley 331 and the second pulley 332. This configuration increases the freedom in arranging the motor 31, and allows the motor 31 to be positioned so as not to interfere with other accessories, particularly the control board 4 and power supply board 5.

[0035] As described above, the first housing 23 has the first opening 231a, which is an opening that is closed by the second housing 24, and the reducer 32 and the motor 31 are inserted into the first housing 23 through the first opening 231a. With this configuration, the reducer 32 and the motor 31 can be easily inserted into and removed from the first housing 23.

[0036] As described above, the second housing 24 is fixed to the first housing 23 while being placed on the first housing 23. With this configuration, it becomes easier to fix the second housing 24 to the first housing 23.

[0037] As described above, the reducer 32 is a hollow reducer, and has the wiring L that passes through the reducer 32 and is routed between the base 21 and the robot arm 22. This configuration makes it easy to route the wiring L.

[0038] Although the robot 1 of this embodiment has been described above, the configuration of the robot 1 is not limited to this.

[0039] For example, in this embodiment, the control board 4 and the power supply board 5 are attached to the first housing 23, and the drive mechanism 3, i.e., the motor 31, the reducer 32, and the power transmission mechanism 33, are attached to the second housing 24. However, there is no particular limitation on whether the drive mechanism 3, the control board 4, and the power supply board 5 are attached to the first or second housing 23, 24. For example, the motor 31, the control board 4, and the power supply board 5 may be attached to the first housing 23, and the reducer 32 may be attached to the second housing 24. Alternatively, the reducer 32, the control board 4, and the power supply board 5 may be attached to the first housing 23, and the motor 31 may be attached to the second housing 24. Alternatively, the reducer 32 may be attached to the first housing 23, and the motor 31, the control board 4, and the power supply board 5 may be attached to the second housing 24. Alternatively, the motor 31 may be attached to the first housing 23, and the reducer 32 ... Alternatively, the motor 31 and the reducer 32 may be attached to the first housing 23, and the control board 4 and the power supply board 5 may be attached to the second housing 24.

[0040] 10, the first opening 231a of the housing main body 231 may be formed over the entire upper end portion of the housing main body 231. In other words, the entire top portion of the base 21 may be formed by the second housing 24. With this configuration, the first opening 231a can be made larger, making it easier to insert and remove the drive mechanism 3 into and from the housing main body 231.

[0041] Also, for example, as shown in FIG. 11, the second opening 231b may be formed in a side wall portion of the housing main body 231 other than the rear surface.

[0042] 12, the first housing 23 may be plate-shaped and form the bottom of the base 21, and the second housing 24 may be box-shaped and form the top and side walls of the base 21. In this case, the control board 4 and the power supply board 5 may be fixed to the top surface of the first housing 23, and the second housing 24, to which the drive mechanism 3 is attached, may be placed and fixed over the first housing 23, thereby accommodating each of these components within the base 21.

[0043] 13 , the base 21 may be divided into the first housing 23, the second housing 24, and the third housing 29, and the drive mechanism 3, the control board 4, and the power supply board 5 may be separately mounted in the first, second, and third housings 23, 24, and 29. That is, the configuration may include the first housing 23 to which at least one of the reducer 32, the motor 31, the control board 4, and the power supply board 5 is mounted, the second housing 24 to which at least one of the reducer 32, the motor 31, the control board 4, and the power supply board 5 other than the one mounted in the first housing 23 is mounted, and the third housing 29 to which the remaining reducer 32, the motor 31, the control board 4, and the power supply board 5 are mounted. In the illustrated example, the power supply board 5 is attached to the first housing 23, the drive mechanism 3 is attached to the second housing 24, and the control board 4 is attached to the third housing 29, but there is no particular limitation as to which housing the drive mechanism 3, control board 4, and power supply board 5 are attached to. Furthermore, the base 21 may be divided into more housings, such as a fourth housing, a fifth housing, etc.

[0044] Second Embodiment Fig. 14 is a cross-sectional view of a base provided in a robot according to the second embodiment. Fig. 15 to Fig. 17 are cross-sectional views for explaining the assembly procedure of the base.

[0045] The robot 1 according to this embodiment is similar to the robot 1 according to the first embodiment, except for the configuration of the base 21. In the following description, differences between the robot 1 according to this embodiment and the first embodiment will be mainly described, and descriptions of similar points will be omitted. In addition, in each drawing of this embodiment, the same reference numerals are used to designate the same components as those in the above-described embodiment.

[0046] 14, the base 21 of the robot 1 of this embodiment has an outer housing 25 as a first housing and an inner housing 26 as a second housing housed in the outer housing 25. The outer housing 25 has a box-shaped housing main body 251 formed with a first opening 251a opening on the front side and a second opening 251b opening on the back side, a first cover member 252 closing the first opening 251a, and a second cover member 253 closing the second opening 251b. As will be described later, the second opening 251b is an opening for inserting the inner housing 26 into the outer housing 25, and the first opening 251a is an opening for adjusting the tension of the belt 333. The inner housing 26 is box-shaped and has an airtight space inside.

[0047] In such a base 21, the reducer 32 is attached to the outer housing 25, and the motor 31, control board 4, and power supply board 5 are attached to the inner housing 26. In particular, the control board 4 and power supply board 5 are each housed in an airtight space within the inner housing 26. This effectively protects the control board 4 and power supply board 5 from moisture and dust. In contrast, the motor 31 is located outside the inner housing 26 and attached to the inner housing 26 via a motor plate 310. By arranging the motor 31 outside the inner housing 26 in this way, it becomes easier to loop the belt 333 between the reducer 32 and the motor 31 within the outer housing 25.

[0048] In the base 21 configured as described above, the drive mechanism 3, control board 4, and power supply board 5 are attached and detached as follows. For example, when assembling the drive mechanism 3, control board 4, and power supply board 5 to the base 21, first, as shown in FIG. 15 , the inner housing 26 is pulled out from the outer housing 25, and then the reducer 32 is attached to the outer housing 25. Note that the second pulley 332 is attached to the wave generator 323 of the reducer 32 in advance. By pulling out the inner housing 26 from the outer housing 25 in this way, a large space can be secured within the outer housing 25, making it easier to attach the reducer 32 to the outer housing 25.

[0049] Next, the control board 4 and the power supply board 5 are attached to predetermined positions within the inner housing 26. Next, the motor 31 is attached to the outside of the inner housing 26 via the motor plate 310. Note that the first pulley 331 is attached to the output shaft of the motor 31 in advance. According to this method, the control board 4, the power supply board 5, and the motor 31 can be assembled to the inner housing 26, and adjustments and maintenance of the control board 4, the power supply board 5, and the motor 31 can be performed in a state where the inner housing 26 is removed from the outer housing 25, that is, in a large space outside the outer housing 25, and these actions can be performed easily and accurately.

[0050] Next, as shown in FIG. 16 , the inner housing 26 is inserted into the outer housing 25 through the second opening 251b. Next, as shown in FIG. 17 , the belt 333 is looped around the first pulley 331 and the second pulley 332 through the first opening 251a. Then, the position of the inner housing 26 is shifted within the outer housing 25 to change the distance between the first and second pulleys 331 and 332, thereby adjusting the tension of the belt 333. This method makes it easy to adjust the tension of the belt 333. After adjusting the tension of the belt 333, the inner housing 26 is fixed to the outer housing 25 at that position. Finally, the first and second cover members 252 and 253 are attached to the housing main body 251. In this manner, the drive mechanism 3, the control board 4, and the power supply board 5 are attached to the base 21.

[0051] With the base 21 configured as described above, the reducer 32 and the motor 31 can be separately attached to and detached from the base 21 by inserting and removing the inner housing 26 into and from the outer housing 25. This makes it easy to assemble, adjust, maintain, and so on the reducer 32 and the motor 31.

[0052] As described above, in the robot 1 of this embodiment, the inner housing 26, which is the second housing, is housed inside the outer housing 25, which is the first housing. The reducer 32 is attached to the outer housing 25, and the motor 31, the control board 4, and the power supply board 5 are attached to the inner housing 26. With this configuration, the reducer 32 and the motor 31 can be attached to and detached from the base 21 separately by inserting and removing the inner housing 26 into and from the outer housing 25. This makes it easy to assemble, adjust, maintain, and so on the reducer 32 and the motor 31.

[0053] As described above, the inner housing 26 is box-shaped, the control board 4 and the power supply board 5 are housed inside the inner housing 26, and the motor 31 is disposed outside the inner housing 26. This configuration effectively protects the control board 4 and the power supply board 5 from moisture and dust. It also facilitates the connection of the motor 31 and the reducer 32.

[0054] As described above, the robot 1 has a power transmission mechanism 33 located between the motor 31 and the reducer 32, which transmits the driving force of the motor 31 to the reducer 32. The power transmission mechanism 33 also has a first pulley 331 connected to the output shaft of the motor 31, a second pulley 332 connected to the input side of the reducer 32, and a belt 333 wound around the first pulley 331 and the second pulley 332. The tension of the belt 333 is adjusted by adjusting the position of the inner casing 26 relative to the outer casing 25. With this configuration, the tension of the belt 333 can be easily adjusted.

[0055] The second embodiment can also achieve the same effects as the first embodiment described above.

[0056] Third Embodiment FIG. 18 is a cross-sectional view of a base provided in a robot according to the third embodiment.

[0057] The robot 1 according to this embodiment is similar to the robot 1 according to the first embodiment, except for the configuration of the base 21. In the following description, differences between the robot 1 according to this embodiment and the first embodiment will be mainly described, and descriptions of similar points will be omitted. In addition, in the drawings of this embodiment, the same reference numerals are used to designate similar components to those in the above-described embodiment.

[0058] As shown in FIG. 18 , the base 21 of the robot 1 of this embodiment has a first housing 27 having an opening 271 formed in the front of its sidewall, and a second housing 28 attached to the first housing 27 to close the opening 271. The first housing 27 contains a drive mechanism 3, a control board 4, and a power supply board 5, which are attached to predetermined locations on the first housing 27. Meanwhile, a fan 6 is fixed to the second housing 28. The fan 6 has the function of blowing air toward the control board 4 and the power supply board 5 for cooling. By attaching the drive mechanism 3, the control board 4, the power supply board 5, and the fan 6 to the first and second housings 27 and 28 separately in this way, the drive mechanism 3, the control board 4, the power supply board 5, and the fan 6 can be easily attached and detached.

[0059] For example, when assembling the drive mechanism 3 to the base 21, the following steps may be performed: removing the second housing 28 from the first housing 27, attaching the drive mechanism 3, the control board 4, and the power supply board 5 to the first housing 27 through the opening 271, adjusting the position of the motor 31 relative to the reducer 32 to adjust the tension of the belt 333, attaching the fan 6 to the second housing 28, positioning the second housing 28 so as to close the opening 271 and inserting the fan 6 into the first housing 27 through the opening 271, and screwing the second housing 28 to the first housing 27. In this way, by attaching the drive mechanism 3, the control board 4, the power supply board 5, and the fan 6 separately to the first housing 27 and the second housing 28, and by attaching and detaching the second housing 28 to and from the first housing 27, the components can be easily attached and detached while effectively suppressing interference between the components.

[0060] Furthermore, because the reducer 32 and the motor 31 are attached to the first housing 27, their alignment and the like can be completed before attaching the second housing 28 to the first housing 27. This facilitates assembly of the base 21. In particular, in this embodiment, the motor 31 is disposed within the first housing 27 so as to face the opening 271. That is, the motor 31 is disposed on the nearest side as seen from the opening 271 so that no other members are interposed between the motor 31 and the opening 271. With this configuration, the position of the motor 31 can be easily adjusted via the opening 271, and the tension of the belt 333 can be easily adjusted.

[0061] As described above, the robot 1 of this embodiment includes the base 21, the robot arm 22 that rotates relative to the base 21, the reducer 32 that connects the base 21 and the robot arm 22, the motor 31 connected to the reducer 32, the control board 4 that controls the driving of the motor 31, the power supply board 5 that supplies power to the control board 4, and the fan 6. The base 21 also includes a first housing 27 to which at least one of the reducer 32, the motor 31, the control board 4, the power supply board 5, and the fan 6 is attached, and a second housing 28 to which at least one of the reducer 32, the motor 31, the control board 4, the power supply board 5, and the fan 6 is attached, excluding the one that is attached to the first housing 27. In this way, by separately attaching the reducer 32, the motor 31, the control board 4, the power supply board 5, and the fan 6 to the first housing 27 and the second housing 28, the second housing 28 can be attached and detached from the first housing 27, and each component can be easily attached and detached while effectively suppressing interference between the components.

[0062] As described above, at least the reducer 32 and the motor 31 are attached to the first housing 27, and at least the fan 6 is attached to the second housing 28. With this configuration, since the reducer 32 and the motor 31 are attached to the first housing 27, it is possible to complete the alignment of these components before attaching the second housing 28 to the first housing 27. This makes it easier to assemble the base 21.

[0063] As described above, the first housing 27 is further fitted with a power transmission mechanism 33 that connects the motor 31 and the reducer 32 and transmits the driving force of the motor 31 to the reducer 32. The power transmission mechanism 33 includes a first pulley 331 connected to the output shaft of the motor 31, a second pulley 332 connected to the input side of the reducer 32, and a belt 333 wound around the first pulley 331 and the second pulley 332. The first housing 27 has an opening 271 that is closed by the second housing 28, and the motor 31 faces the opening 271. This configuration makes it easy to adjust the position of the motor 31 via the opening 271, and to adjust the tension of the belt 333.

[0064] The third embodiment can also achieve the same effects as the first embodiment described above.

[0065] Although the robot 1 of this embodiment has been described above, the configuration of the robot 1 is not limited to this.

[0066] For example, in this embodiment, the drive mechanism 3, control board 4, and power supply board 5 are attached to the first housing 27, and the fan 6 is attached to the second housing 28, but there is no particular limitation as to whether the drive mechanism 3, control board 4, power supply board 5, and fan 6 are attached to the first or second housing 27, 28.

[0067] Furthermore, in this embodiment, the base 21 is divided into the first housing 27 and the second housing 28. However, this is not limiting. For example, the base 21 may be divided into the first housing 27, the second housing 28, and a third housing, and the drive mechanism 3, the control board 4, the power supply board 5, and the fan 6 may be separately mounted in the first housing 27, the second housing 28, and the third housing. That is, the base 21 may have a configuration including the first housing 27 to which at least one of the reducer 32, the motor 31, the control board 4, the power supply board 5, and the fan 6 is mounted; the second housing 28 to which at least one of the reducer 32, the motor 31, the control board 4, the power supply board 5, and the fan 6 is mounted, excluding the one mounted in the first housing 27; and the third housing to which the remaining reducer 32, the motor 31, the control board 4, the power supply board 5, and the fan 6 are mounted. The base 21 may also be divided into more housings, such as a fourth housing, a fifth housing, and so on.

[0068] While the robot of the present invention has been described above based on the illustrated embodiment, the present invention is not limited to this, and the configuration of each part can be replaced with any configuration having a similar function. Furthermore, any other configuration may be added to the present invention. Furthermore, the above-described embodiments may be combined as appropriate. [Explanation of symbols]

[0069] 1...robot, 21...base, 22...robot arm, 221...arm, 222...arm, 223...arm, 224...arm, 225...arm, 226...arm, 23...first housing, 231...housing main body, 231a...first opening, 231b...second opening, 232...cover member, 24...second housing, 25...outer housing, 251...housing main body, 251a...first opening, 251b...second opening, 252...first cover member, 253...second cover member, 26...inner housing, 27...first housing, 271...opening, 28...second housing, 29...third housing, 3...drive mechanism, 31...motor, 310...motor plate, 32...reduction gear, 321...circular spline, 322...flexspline, 323...wave generator, 33...power transmission mechanism, 331...first pulley, 332...second pulley, 333...belt, 4...control board, 5...power supply board, 6...fan, H...through hole, J1...joint, J2...joint, J3...joint, J4...joint, J5...joint, J6...joint, L...wiring

Claims

1. The base and a robot arm that rotates relative to the base; a reducer that connects the base and the robot arm; a motor connected to the reducer; a control board for controlling the driving of the motor; a power supply board that supplies power to the control board, The robot is characterized in that the base has a first housing in which at least one of the reducer, the motor, the control board, and the power supply board is attached, and a second housing in which at least one of the reducer, the motor, the control board, and the power supply board excluding the one attached to the first housing is attached.

2. The control board and the power supply board are attached to the first housing, The robot according to claim 1 , wherein the second housing is provided with the reducer and the motor.

3. a power transmission mechanism is attached to the second housing, the power transmission mechanism connecting the motor and the reducer and transmitting the driving force of the motor to the reducer; 3. The robot according to claim 2, wherein the power transmission mechanism includes a first pulley connected to an output shaft of the motor, a second pulley connected to an input side of the reducer, and a belt wound around the first pulley and the second pulley.

4. the first housing has an opening that is closed by the second housing, The robot according to claim 2 , wherein the reducer and the motor are inserted into the first housing through the opening.

5. The robot according to claim 4 , wherein the second housing is fixed to the first housing while being placed on the first housing.

6. the second housing is housed within the first housing, The reducer is attached to the first housing, The robot according to claim 1 , wherein the motor, the control board, and the power supply board are attached to the second housing.

7. The second housing is box-shaped, the control board and the power supply board are housed inside the second housing; The robot according to claim 6 , wherein the motor is disposed outside the second housing.

8. a power transmission mechanism located between the motor and the reducer, which transmits the driving force of the motor to the reducer; the power transmission mechanism includes a first pulley connected to an output shaft of the motor, a second pulley connected to an input side of the reducer, and a belt wound around the first pulley and the second pulley, The robot according to claim 7 , wherein the tension of the belt can be adjusted by adjusting the position of the second housing relative to the first housing.

9. The base and a robot arm that rotates relative to the base; a reducer that connects the base and the robot arm; a motor connected to the reducer; a control board for controlling the driving of the motor; a power supply board that supplies power to the control board; a fan; The robot is characterized in that the base has a first housing in which at least one of the reducer, the motor, the control board, the power supply board, and the fan is attached, and a second housing in which at least one of the reducer, the motor, the control board, the power supply board, and the fan excluding the one attached to the first housing is attached.

10. At least the reducer and the motor are attached to the first housing, The robot according to claim 9 , wherein at least the fan is attached to the second housing.

11. a power transmission mechanism is attached to the first housing, the power transmission mechanism connecting the motor and the reducer and transmitting the driving force of the motor to the reducer; the power transmission mechanism includes a first pulley connected to an output shaft of the motor, a second pulley connected to an input side of the reducer, and a belt wound around the first pulley and the second pulley, the first housing has an opening that is closed by the second housing, The robot according to claim 10, wherein the motor faces the opening.

12. the reducer is a hollow reducer, The robot according to claim 1 or 11, further comprising wiring that passes through the hollow reducer and is routed between the base and the robot arm.

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