Robot, installation method, removal method, fixing member, and maintenance system

Abstract

To provide a robot of which a joint actuator is easily attached and detached, and provide an attaching method, detaching method, fixing member, and maintenance system.SOLUTION: A robot includes: a first member which has a first placing surface facing upward; a second member which is positioned above the first member, and has an opening opposite to the first member and a second placing surface positioned above; and a joint actuator which connects the first member and the second member. The joint actuator includes: a flange fixed on the second placing surface; a motor arranged above with respect to the flange; and a speed reducer which is arranged on a lower side with respect to the flange, protrudes downward from the opening, and is fixed on the first placing surface. The speed reducer is protruded downward from the opening by placing the joint actuator on the second placing surface from above, the flange is screwed on the second member from above by using a first screw, and the speed reducer is screwed on the first member from a lower side by using a second screw.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a robot, an attachment method, a removal method, a fixing member, and a maintenance system. [Background technology]

[0002] Patent Document 1 describes a robot having a first joint member, a second joint member rotatable about an axis relative to the first joint member, a reduction gear connecting the first joint member and the second joint member, and a motor connected to the reduction gear. In the robot of Patent Document 1, the first joint member and the second joint member are also connected at a location other than the reduction gear so that the first joint member and the second joint member are not separated when the reduction gear is removed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-111598 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the robot of Patent Document 1, it is necessary to first remove the motor and then remove the reducer, which requires many steps to remove the reducer and tends to make the work complicated. [Means for solving the problem]

[0005] The robot of the present invention includes a first member having a first placement surface; a second member located on the first mounting surface side of the first member and having an opening facing the first member and a second mounting surface located on the opposite side to the first member; a joint actuator that connects the first member and the second member and rotates the first member and the second member relatively to each other; The joint actuator includes a flange fixed to the second mounting surface; a motor disposed on the opposite side of the flange from the first member; a reducer disposed on the first member side with respect to the flange, protruding from the opening toward the first member side, and fixed to the first mounting surface; The width of the opening is smaller than the width of the flange, the width of the motor is smaller than the width of the flange; The width of the reducer is smaller than the width of the opening, The joint actuator is placed on the second mounting surface from the side opposite the first member, causing the reducer to protrude from the opening towards the first member, and a first screw is used to screw the flange to the second member from the side opposite the first member, and a second screw is used to screw the reducer to the first member from the side opposite the second member, thereby connecting the first member and the second member.

[0006] The mounting method of the present invention is a method for mounting a joint actuator, which connects a first member having a first mounting surface and a second member located on the first mounting surface side of the first member, having an opening facing the first member and a second mounting surface located on the opposite side to the first member, and rotates the first member and the second member relatively, The joint actuator includes a flange fixed to the second mounting surface; a motor disposed on the opposite side of the flange from the first member; a reducer disposed on the first member side with respect to the flange, protruding from the opening toward the first member side, and fixed to the first mounting surface; The width of the opening is smaller than the width of the flange, the width of the motor is smaller than the width of the flange; The width of the reducer is smaller than the width of the opening, placing the joint actuator on the second mounting surface from the side opposite to the first member, thereby causing the reducer to protrude from the opening toward the first member; using a first screw to screw the flange to the second member from an opposite side to the first member; and a step of screwing the reducer to the first member from the side opposite the second member using a second screw.

[0007] A removal method of the present invention is a method for removing a joint actuator, comprising: connecting a first member having a first mounting surface to a second member located on the first mounting surface side of the first member, the second member having an opening facing the first member and a second mounting surface located on an opposite side to the first member; and relatively rotating the first member and the second member, The joint actuator includes a flange fixed to the second mounting surface; a motor disposed on the opposite side of the flange from the first member; a reducer disposed on the first member side with respect to the flange, protruding from the opening toward the first member side, and fixed to the first mounting surface; The width of the opening is smaller than the width of the flange, the width of the motor is smaller than the width of the flange; The width of the reducer is smaller than the width of the opening, the flange is fixed to the second member from an opposite side to the first member by a first screw, the reducer is fixed to the first member from the side opposite to the second member by a second screw; removing the second screw; removing the first screw; and withdrawing the joint actuator to a side opposite to the first member.

[0008] A fixing member of the present invention is a fixing member that fixes the first member and the second member when removing the joint actuator from a robot having the first member, the second member, and a joint actuator that connects the first member and the second member and rotates the first member and the second member relatively to each other or when attaching the joint actuator to the robot, a first insertion hole through which a screw used for fixing to the first member is inserted; and a second insertion hole through which a screw used for fixing to the second member is inserted.

[0009] The maintenance system of the present invention includes a robot having a first member, a second member, and a joint actuator that connects the first member and the second member and rotates the first member and the second member relatively to each other, and fixes the first member and the second member with a fixing member when removing the joint actuator from the robot or when attaching the joint actuator to the robot. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a side view showing a robot according to a preferred embodiment of the present invention. [Diagram 2] FIG. 4 is a cross-sectional view showing a joint actuator that connects the first arm and the second arm. [Diagram 3] FIG. 3 is a cross-sectional view for explaining a method for removing the joint actuator shown in FIG. 2. [Figure 4] FIG. 3 is a cross-sectional view for explaining a method for removing the joint actuator shown in FIG. 2. [Diagram 5] FIG. 3 is a cross-sectional view for explaining a method for removing the joint actuator shown in FIG. 2. [Figure 6] FIG. 3 is a cross-sectional view for explaining a method for removing the joint actuator shown in FIG. 2. [Figure 7] FIG. 3 is a cross-sectional view for explaining a method for removing the joint actuator shown in FIG. 2. [Figure 8]FIG. 3 is a cross-sectional view for explaining a method of attaching the joint actuator shown in FIG. 2. [Figure 9] FIG. 3 is a cross-sectional view for explaining a method of attaching the joint actuator shown in FIG. 2. [Figure 10] FIG. 3 is a cross-sectional view for explaining a method of attaching the joint actuator shown in FIG. 2. [Figure 11] 13 is a cross-sectional view showing a modified example of a fixing member that fixes the first arm and the second arm. FIG. [Figure 12] 13 is a cross-sectional view showing a modified example of a fixing member that fixes the first arm and the second arm. FIG. [Figure 13] 13 is a cross-sectional view showing a modified example of a fixing member that fixes the first arm and the second arm. FIG. [Figure 14] FIG. 4 is a cross-sectional view showing a joint actuator that connects the base and the first arm. [Figure 15] 13 is a cross-sectional view showing a fixing member that fixes the base and the first arm. FIG. [Figure 16] 13 is a cross-sectional view showing a modified example of a fixing member that fixes the base and the first arm. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a robot, an installation method, a removal method, a fixing member, and a maintenance system of the present invention will be described in detail based on embodiments shown in the accompanying drawings.

[0012] FIG. 1 is a side view showing a robot according to a preferred embodiment of the present invention. FIG. 2 is a cross-sectional view showing a joint actuator connecting a first arm and a second arm. FIGS. 3 to 7 are cross-sectional views for explaining a method for removing the joint actuator shown in FIG. 2. FIGS. 8 to 10 are cross-sectional views for explaining a method for attaching the joint actuator shown in FIG. 2. FIGS. 11 to 13 are cross-sectional views showing modified examples of a fixing member for fixing the first arm and the second arm. FIG. 14 is a cross-sectional view showing a joint actuator connecting a base and a first arm. FIG. 15 is a cross-sectional view showing a fixing member for fixing the base and the first arm. FIG. 16 is a cross-sectional view showing a modified example of a fixing member for fixing the base and the first arm.

[0013] For ease of explanation, each figure shows three mutually orthogonal axes, the X-axis, the Y-axis, and the Z-axis. In the following, the upper side of each figure, i.e., the side indicated by the Z-axis arrow, is regarded as the upper side in the vertical direction, and the lower side of each figure, i.e., the side opposite the Z-axis arrow, is regarded as the lower side in the vertical direction.

[0014] 1 is a SCARA robot, and is used for tasks such as holding, transporting, assembling, and inspecting workpieces such as electronic components, etc. However, the uses of the robot 1 are not particularly limited.

[0015] The robot 1 has a base 2 fixed to a floor surface, and an arm 3 connected to the base 2. The arm 3 has a first arm 31 having a base end connected to the base 2 and rotating around a first rotation axis J1 that is aligned vertically to the base 2, and a second arm 32 having a base end connected to a tip end of the first arm 31 and rotating around a second rotation axis J2 that is aligned vertically to the first arm 31. The first rotation axis J1 and the second rotation axis J2 are parallel to each other.

[0016] A working head 33 is provided at the tip of the second arm 32. The working head 33 has a spline nut 331 and a ball screw nut 332 that are coaxially arranged at the tip of the second arm 32, and a spline shaft 333 that is inserted through the spline nut 331 and the ball screw nut 332. The spline shaft 333 is rotatable about a third rotation axis J3 that is its central axis and extends in the vertical direction relative to the second arm 32, and is movable up and down along the third rotation axis J3. The third rotation axis J3 is parallel to the first rotation axis J1 and the second rotation axis J2.

[0017] An end effector 34 is attached to the lower end of the spline shaft 333. The end effector 34 is detachable and is appropriately selected according to the intended work. Examples of the end effector 34 include a hand that clamps and holds a workpiece by suction, and a tool that performs a predetermined processing on the workpiece.

[0018] The robot 1 has a joint actuator 51 that connects the base 2 and the first arm 31 and rotates the first arm 31 about a first rotation axis J1 relative to the base 2, and a joint actuator 52 that connects the first arm 31 and the second arm 32 and rotates the second arm 32 about a second rotation axis J2 relative to the first arm 31. The robot 1 also has a drive unit 53 that rotates the spline nut 331 to rotate the spline shaft 333 about a third rotation axis J3, and a drive unit 54 that rotates the ball screw nut 332 to raise and lower the spline shaft 333 in a direction along the third rotation axis J3.

[0019] The robot 1 has a cover member 39 that is detachably attached to the second arm 32 and covers and protects the various components arranged on the second arm 32, particularly the joint actuator 52 and the driving devices 53 and 54.

[0020] The robot 1 has a robot control device 10 that is disposed in a base 2 and controls the driving of the joint actuators 51, 52 and the driving devices 53, 54 based on commands from a host computer (not shown). The robot control device 10 controls the joint actuators 51, 52 and the driving devices 53, 54 independently, thereby allowing the robot 1 to perform a desired task. The robot control device 10 is, for example, composed of a computer, and has a processor that processes information, a memory communicatively connected to the processor, and an external interface. In addition, various programs that can be executed by the processor are stored in the memory, and the processor can read and execute the various programs stored in the memory.

[0021] Above, we have briefly explained the overall configuration of the robot 1. Next, we will explain in detail the joint actuators 51 and 52. Note that the joint actuators 51 and 52 have the same configuration except for their different arrangements, so below, we will explain the joint actuator 52 in detail, and briefly explain the joint actuator 51 mainly focusing on the differences from the joint actuator 52.

[0022] 2, the joint actuator 51 has a flange 9 fixed to the second mounting surface 321 of the second arm 32, a motor 6 as a drive source arranged to protrude upward from the flange 9, an encoder 8 as a rotation detector arranged above the motor 6, and a strain wave gear device 7 as a reducer protruding downward from the flange 9 and fixed to the first mounting surface 311 of the first arm 31. The first mounting surface 311 and the second mounting surface 321 each face upward.

[0023] Further, the width W6 of the motor 6 and the width W7 of the harmonic gear device 7 are each smaller than the width W9 of the flange 9. That is, W6 < W9 and W7 < W9. Also, the width W8 of the encoder 8 is smaller than the width W6 of the motor 6. That is, W8 < W6. Therefore, when viewed from the upper side in the vertical direction, the flange 9 protrudes and is visible from around the encoder 8 and the motor 6, and when viewed from the lower side in the vertical direction, the flange 9 protrudes and is visible from around the harmonic gear device 7. In this embodiment, since the flange 9, the motor 6, and the harmonic gear device 7 are each circular in plan view from the vertical direction, the "width" is synonymous with the diameter.

[0024] The motor 6 is an AC servo motor. However, the motor 6 is not particularly limited, and for example, a DC servo motor, a stepping motor, etc. may be used.

[0025] The motor 6 has a rotor 61, a stator 62, and a housing 63 that houses these.

[0026] The rotor 61 has a shaft 611 that serves as a rotation axis and a magnet 612. The shaft 611 is supported by the housing 63 so as to be rotatable around its central axis A via a pair of bearings 651 and 652. The central axis A coincides with the second rotation axis J2. Also, the shaft 611 is connected to the harmonic gear device 7 at its lower end and to the encoder 8 at its upper end. Thereby, the rotation of the shaft 611 is transmitted to the harmonic gear device 7 and the encoder 8.

[0027] The stator 62 is arranged surrounding the rotor 61 around the central axis A. The stator 62 has cores 621 arranged at predetermined intervals in the circumferential direction and coils 622 wound around each core 621. When an alternating current is passed through the stator 62, the stator 62 becomes an electromagnet and the N pole and the S pole alternate. Accordingly, the shaft 611 rotates around the central axis A by attracting and repelling the magnet 612 of the rotor 61.

[0028] The flange 9 is integrally formed with the housing 63 and has a disk shape protruding radially outward from the housing 63 along the central axis A. However, the flange 9 may be configured separately from the housing 63. Further, the flange 9 has a plurality of insertion holes 91 arranged at equal intervals along the circumferential direction. And the flange 9 is fixed to the second arm 32 by a first screw B1 inserted through the insertion hole 91. Thereby, the motor 6 is fixed to the second arm 32 via the flange 9. Specifically, an opening 322 penetrating the second arm 32 vertically is formed at a position of the base end portion of the second arm 32 facing the tip end portion of the first arm 31. The width W3 of the opening 322 is smaller than the width W9 of the flange 9 and larger than the width W7 of the harmonic gear device 7. That is, W7 < W3 < W9. And the joint actuator 52 is placed on the second placement surface 321 of the second arm 32 so as to close the opening 322 from above, and the flange 9 is screwed to the second arm 32 by a first screw B1 inserted into the insertion hole 91 from above.

[0029] The harmonic gear device 7 is arranged side by side with the motor 6 along the central axis A and is arranged on the lower side of the motor 6, that is, on the side of the first arm 31. The harmonic gear device 7 decelerates and outputs the rotation of the shaft 611 at a high reduction ratio and generates a high torque proportional to the reduction ratio. The harmonic gear device 7 has a wave generator 71, a flex spline 73, and a circular spline 76. As will be described later, in the harmonic gear device 7, the wave generator 71 is on the input side to which the power of the motor 6 is input, and the circular spline 76 is on the output side that decelerates and outputs the power of the motor 6.

[0030] The circular spline 76 is an annular internal gear formed of a rigid body that does not substantially bend. The circular spline 76 has a connecting portion 761 fixed to the first arm 31 and a fixing portion 762 fixed to the flange 9. The connecting portion 761 and the fixing portion 762 are connected by a bearing 763, and the connecting portion 761 is rotatable with respect to the fixing portion 762.

[0031] The inner periphery of the connecting portion 761 is formed with internal teeth 761a that mesh with the flexspline 73. The connecting portion 761 also has a screw hole 761b that opens on a lower surface 761c thereof and is used to fix the connecting portion 761 to the first arm 31. The connecting portion 761 is fixed to the first arm 31 by a second screw B2 that is screwed into the screw hole 761b. More specifically, when the flange 9 is screwed to the second arm 32, the strain wave gear device 7 protrudes downward from the second arm 32 through the opening 322, and the lower surface 761c of the connecting portion 761 abuts against the first mounting surface 311 of the first arm 31. The first arm 31 is formed with an insertion hole 312 for inserting the second screw B2 at a position opposite to the screw hole 761b. The connecting part 761 is fixed to the first arm 31 by a second screw B2 inserted into the insertion hole 312 from the underside of the first arm 31 and screwing into the fixing screw hole 761b. In this way, the connecting part 761, which is the output part of the strain wave gear device 7, is fixed to the first arm 31.

[0032] On the other hand, the fixing portion 762 has an insertion hole 762a for fixing the fixing portion 762 to the flange 9, and is fixed to the flange 9 by a third screw B3 inserted into the insertion hole 762a.

[0033] The flexspline 73 is disposed inside the circular spline 76. The flexspline 73 has a cylindrical portion 731 having flexibility such that it can flexibly deform along the outer periphery of the wave generator 71, and a flange portion 732 extending from a lower end of the cylindrical portion 731 radially outward about the central axis A.

[0034] External teeth 731a that mesh with internal teeth 761a of the circular spline 76 are formed on the outer periphery of the cylindrical portion 731. The number of teeth of the external teeth 731a is set to be smaller than the number of teeth of the internal teeth 761a. The flange portion 732 is sandwiched between the circular spline 76 and the flange 9. The flange portion 732 has an insertion hole 732a for fixing the flange portion 732 to the flange 9, and is fixed to the flange 9 together with the fixing portion 762 by a third screw B3 inserted into the insertion hole 732a.

[0035] The wave generator 71 has a wave generating unit 711 through which the shaft 611 is inserted and which rotates in conjunction with the rotation of the shaft 611, and a bearing 712 fitted between the wave generating unit 711 and the flexspline 73. The wave generating unit 711 has an outer periphery that is elliptical or oblong in plan view from the direction of the central axis A. The wave generator 71 contacts the inner periphery of a cylindrical portion 731 of the flexspline 73, and bends the cylindrical portion 731 into an elliptical or oblong shape to partially mesh the external teeth 731a of the cylindrical portion 731 with the internal teeth 761a of the circular spline 76. As a result, the teeth of the circular spline 76 mesh with those of the circular spline 76 at the major axis portion, and the teeth are completely separated at the minor axis portion.

[0036] When a driving force from the motor 6 is input to the wave generator 71, the flexspline 73 and the circular spline 76 rotate relatively around the central axis A due to the difference in the number of teeth while their meshing positions move sequentially in the circumferential direction. In this embodiment, the flange portion 732 of the flexspline 73 and the fixed portion 762 of the circular spline 76 are fixed to the second arm 32 via the flange 9, and the connecting portion 761 of the circular spline 76 is fixed to the first arm 31, so that the second arm 32 rotates around the second rotation axis J2 with respect to the first arm 31. According to this wave gear device 7, the rotation input from the motor 6 to the wave generator 71 is reduced in speed and output from the connecting portion 761 of the circular spline 76, and a torque proportional to the reduction ratio can be obtained on the output side.

[0037] The encoder 8 is disposed alongside the motor 6 along the central axis A and is located above the motor 6. The encoder 8 has an optical scale 81 fixed to a shaft 611 and an optical sensor 82 that detects the rotation state of the optical scale 81. The optical scale 81 rotates together with the shaft 611 around the central axis A. A detection pattern (not shown) capable of detecting the rotation angle of the optical scale 81 is formed on the upper surface of the optical scale 81. Meanwhile, the optical sensor 82 has a light-emitting element that emits light toward the detection pattern on the optical scale 81 and a light-receiving element that receives light reflected by the detection pattern. In the encoder 8 configured as described above, the waveform of the output signal from the light-receiving element changes with the rotation of the optical scale 81 around the central axis A. Therefore, the rotation angle of the optical scale 81 can be detected based on this output signal.

[0038] The configuration of the joint actuator 52 has been described above. Next, a method of removing the joint actuator 52 from the robot 1 for replacement or maintenance will be described. First, as shown in FIG. 3, the cover member 39 is removed from the second arm 32 to expose the joint actuator 52. Next, as shown in FIG. 4, the fixing member 100 is fixed to the first arm 31 and the second arm 32 to connect the first arm 31 and the second arm 32 and fix their relative positions. The fixing member 100 will be described in detail later.

[0039] Next, as shown in FIG. 5, the second screw B2 that fixes the connecting portion 761 to the first arm 31 is approached from below the first arm 31, and the second screw B2 is removed. This separates the joint actuator 52 from the first arm 31. Note that no member that is impossible or difficult to remove is disposed below the second screw B2, and a working path L1 for approaching the second screw B2 from below is secured in the first arm 31. In other words, the second screw B2 can be seen when the first arm 31 is viewed from below. This allows the second screw B2 to be smoothly removed.

[0040] Next, as shown in FIG. 6, the first screw B1 that fixes the flange 9 to the second arm 32 is approached from above the second arm 32, and the first screw B1 is removed. This separates the joint actuator 52 from the second arm 32. Note that no components that are impossible or difficult to remove are disposed above the first screw B1, and a working path L2 for approaching the first screw B1 from above is secured in the second arm 32. In other words, the first screw B1 can be seen when looking at the second arm 32 from above. This allows the first screw B1 to be smoothly removed.

[0041] Next, as shown in FIG. 7, the joint actuator 52 is pulled upward and removed from the robot 1. With the above, the removal of the joint actuator 52 is completed. According to such a process, the joint actuator 52 can be easily removed from the robot 1. In particular, unlike the conventional method, the motor 6 and the strain wave gear device 7 can be simultaneously removed while remaining integral, so that extremely high work efficiency can be achieved. Note that the process of the removal work is not limited to this. For example, in the above description, the second screw B2 is removed before the first screw B1, but conversely, the first screw B1 may be removed before the second screw B2. Also, the first screw B1 and the second screw B2 may be removed simultaneously or alternately.

[0042] Since the first arm 31 and the second arm 32 are fixed by the fixing member 100, the operation of removing the joint actuator 52 can be performed smoothly. In addition, even in a state where the joint actuator 52 is removed from the robot 1, the relative positions of the first arm 31 and the second arm 32 are maintained.

[0043] Next, the method of attaching the joint actuator 52 will be described, continuing from FIG. 7. The method of attaching the joint actuator 52 is the reverse of the above-mentioned removal method, so it will be described briefly. First, as shown in FIG. 8, the joint actuator 52 is inserted from the upper side of the second arm 32 and placed on the second mounting surface 321 so as to cover the opening 322. As a result, the strain wave gear device 7 protrudes downward through the opening 322, and the lower surface 761c of the connecting portion 761 comes into contact with the first mounting surface 311 of the first arm 31.

[0044] Next, as shown in FIG. 9, the flange 9 is approached from above, and the flange 9 is fixed to the second arm 32 using the first screw B1. Since the working path L2 is secured, the first screw B1 can be attached smoothly. Next, as shown in FIG. 10, the lower surface 761c of the connecting portion 761 is approached from below the first arm 31, and the connecting portion 761 is fixed to the first arm 31 using the second screw B2. Since the working path L1 is secured, the second screw B2 can be attached smoothly. Next, the fixing member 100 is removed from the robot 1, and the cover member 39 is attached to the second arm 32. With the above, the installation of the joint actuator 52 is completed.

[0045] According to this process, the joint actuator 52 can be easily attached to the robot 1. In particular, unlike the conventional method, the motor 6 and the strain wave gear device 7 can be attached simultaneously while remaining integrated, thereby achieving extremely high work efficiency. In addition, since the first arm 31 and the second arm 32 are fixed by the fixing member 100, the attachment work of the joint actuator 52 can be performed smoothly. In particular, since the relative positions of the first arm 31 and the second arm 32 do not shift when the joint actuator 52 is attached or detached, calibration of the encoder 8 after the joint actuator 52 is attached is not required. Therefore, the effort of replacement or maintenance is reduced, and the operation of the robot 1 can be resumed more quickly after the joint actuator 52 is attached.

[0046] Next, the fixing member 100 will be described. As shown in Fig. 4, the fixing member 100 of this embodiment is U-shaped and has a bottom 110 and a pair of wall portions 120, 130 standing upright from both ends of the bottom 110. The fixing member 100 is attached from the lower side, with the bottom 110 fixed to the first arm 31 and the wall portions 120, 130 fixed to the second arm 32. As a result, the first arm 31 and the second arm 32 are fixed via the fixing member 100.

[0047] The bottom 110 has a first through hole 111. The bottom 110 is screwed to the first arm 31 by screwing a fourth screw B4 inserted into the first through hole 111 from below into a fixing screw hole 319 formed in the first arm 31 at a position opposite the first through hole 111. On the other hand, the wall parts 120 and 130 have second through holes 121 and 131. The wall parts 120 and 130 are screwed to the second arm 32 by screwing a fifth screw B5 inserted into the second through holes 121 and 131 from the side into a fixing screw hole 329 formed in the second arm 32 at a position opposite the second through holes 121 and 131. As a result, the first arm 31 and the second arm 32 are fixed via the fixing member 100, and the relative positions of the first arm 31 and the second arm 32 are maintained even when the joint actuator 52 is removed.

[0048] Moreover, the fixed member 100 has a shape that does not overlap with the working path L1 and the working path L2. In other words, when the fixed member 100 is attached to the robot 1, the second screw B2 is visible when the first arm 31 is viewed from below, and the first screw B1 is visible when the second arm 32 is viewed from above. This prevents the fixed member 100 from blocking the working path L1 and the working path L2, and does not hinder the attachment and detachment of the first screw B1 and the second screw B2. In this embodiment, the through hole 112 is formed in the portion that overlaps with the working path L1, so that the shape does not overlap with the working path L1. Note that the through hole 112 in this embodiment is a closed hole, but may be formed as a notch connected to the outer edge of the bottom 110.

[0049] The fixing member 100 has been described above, but the fixing member 100 is not particularly limited as long as it can fix the first arm 31 and the second arm 32. For example, as shown in FIG. 11, the fixing member 100 may further have grooves as positioning portions 128, 138 formed on the inner surfaces of the walls 120, 130 extending vertically, and may be positioned relative to the robot 1 by engaging the grooves with protrusions 328 formed on the side surface of the second arm 32. This makes it easy to attach the fixing member 100 to the robot 1. Also, for example, as shown in FIG. 12, the fixing member 100 may be L-shaped and fixed to the upper surface of the first arm 31 and the base end surface of the second arm 32. Furthermore, as shown in FIG. 13, the fixing member 100 may be configured to be attached from the upper side of the second arm 32, which is the opposite of this embodiment, with the walls 120, 130 and the first arm 31 fixed to each other by a fourth screw B4, and the walls 120, 130 and the second arm 32 fixed to each other by a fifth screw B5.

[0050] Furthermore, the fixing member 100 fixes the first arm 31 and the second arm 32 in a posture in which they extend straight. In a typical SCARA robot, this posture is the reference position, i.e., the posture in which the rotation angle of the second arm 32 with respect to the first arm 31 is 0°. Therefore, by fixing the first arm 31 and the second arm 32 in this posture and attaching and detaching the joint actuator 52, it becomes easy to reset the joint actuator 52.

[0051] However, the posture of the first arm 31 and the second arm 32 is not particularly limited. For example, when the first arm 31 and the second arm 32 cannot be extended straight due to a problem such as a working space, the second arm 32 may be bent relative to the first arm 31 (a posture in which the rotation angle is ≠ 0°). In this posture, the center of gravity of the robot 1 is closer to the base 2 side than in a posture in which the first arm 31 and the second arm 32 extend straight. Therefore, the load applied to the robot 1 when attaching or detaching the joint actuator 52 can be reduced.

[0052] Next, the joint actuator 51 will be briefly described. As described above, the joint actuator 51 has the same configuration as the joint actuator 52, and is mainly different in its arrangement. As shown in FIG. 14, the joint actuator 51 is arranged upside down relative to the joint actuator 52, and the flange 9 is fixed to the second mounting surface 21 of the base 2. An opening 22 is formed in the base 2, and the strain wave gear device 7 protrudes upward through the opening 22, and the connecting portion 761 of the circular spline 76 is fixed to the first mounting surface 313 of the first arm 31. The second mounting surface 21 and the first mounting surface 313 each face downward.

[0053] The attachment and detachment of such a joint actuator 51 is similar to that of the joint actuator 52, and will be described briefly without illustration. First, the base 2 and the first arm 31 are fixed using the fixing member 100A. Next, the second screw B2 is approached from above the first arm 31, and the second screw B2 is removed. Next, the first screw B1 is approached from below the base 2, and the first screw B1 is removed. Next, the joint actuator 51 is pulled downward, and removed from the robot 1. With the above, the removal of the joint actuator 51 is completed.

[0054] The method of attaching the joint actuator 51 is the reverse of the above-mentioned removal method. That is, first, the joint actuator 51 is inserted from the underside of the base 2 and placed on the second mounting surface 21. As a result, the strain wave gear device 7 protrudes upward through the opening 22, and the connecting portion 761 abuts against the first mounting surface 313 of the first arm 31. Next, the flange 9 is approached from below, and the flange 9 is fixed to the base 2 with the first screw B1. Next, the connecting portion 761 is approached from above, and the connecting portion 761 is fixed to the first arm 31 with the second screw B2. With the above, the attachment of the joint actuator 51 is completed.

[0055] According to this process, it is possible to easily attach and detach the joint actuator 51. In particular, unlike the conventional method, the motor 6 and the strain wave gear device 7 can be attached simultaneously while remaining integrated, thereby achieving extremely high work efficiency.

[0056] Next, the fixing member 100A described above will be described. As shown in Fig. 15, the fixing member 100A is L-shaped and has a bottom 110A and a wall 120A standing from an end of the bottom 110A. The fixing member 100A is attached from above, and the bottom 110A is screwed to the upper surface of the base 2 by a sixth screw B6, and the wall 120A is screwed to the base end surface of the first arm 31 by a seventh screw B7. In this way, the base 2 and the first arm 31 are fixed by the fixing member 100A.

[0057] However, the fixing member 100A is not particularly limited as long as it can fix the base 2 and the first arm 31. For example, as shown in Fig. 16, the fixing member 100A may be attached from below, with the bottom part 110A screwed to the side surface of the base 2 by a sixth screw B6, and the wall part 120A screwed to the lower surface of the first arm 31 by a seventh screw B7.

[0058] The robot 1 has been described above. As described above, the robot 1 includes the first arm 31 as a first member having the first mounting surface 311, the second arm 32 as a second member having an opening 322 facing the first arm 31 and a second mounting surface 321 located on the opposite side to the first arm 31, and the joint actuator 52 that connects the first arm 31 and the second arm 32 and rotates the first arm 31 and the second arm 32 relatively. The joint actuator 51 also includes a flange 9 fixed to the second mounting surface 321, a motor 6 disposed on the opposite side to the first arm 31 with respect to the flange 9, and a strain wave gear device 7 as a reducer disposed on the first arm 31 side with respect to the flange 9, protruding from the opening 322 toward the first arm 31, and fixed to the first mounting surface 311. Moreover, the width W3 of the opening 322 is smaller than the width W9 of the flange 9, the width W6 of the motor 6 is smaller than the width W9 of the flange 9, and the width W7 of the strain wave gear device 7 is smaller than the width W3 of the opening 322. Moreover, the joint actuator 52 is mounted on the second mounting surface 321 from the side opposite the first arm 31, so that the strain wave gear device 7 protrudes from the opening 322 toward the first arm 31, the flange 9 is screwed to the second arm 32 from the side opposite the first arm 31 using the first screw B1, and the strain wave gear device 7 is screwed to the first arm 31 from the side opposite the second arm 32 using the second screw B2, thereby connecting the first arm 31 and the second arm 32. With this structure, the joint actuator 52 can be removed from the robot 1 while the motor 6 and the strain wave gear device 7 are integrated together by removing the first screw B1 and the second screw B2. Conversely, the joint actuator 52 can be attached to the robot 1 with the motor 6 and the strain wave gear device 7 integrated together. This allows for high work efficiency. Note that, although the configuration in which the first member is the first arm 31, the second member is the second arm 32, and the joint actuator is the joint actuator 52 has been described here, the same applies to the configuration in which the first member is the first arm 31, the second member is the base 2, and the joint actuator is the joint actuator 51 (hereinafter the same).

[0059] As described above, the method of mounting the joint actuator 52 is a method of connecting the first arm 31 as a first member having the first mounting surface 311 and the second arm 32 as a second member located on the first mounting surface 311 side with respect to the first arm 31, and having an opening 322 facing the first arm 31 and a second mounting surface 321 located on the opposite side to the first arm 31, and relatively rotating the first arm 31 and the second arm 32. The joint actuator 52 has a flange 9 fixed to the second mounting surface 321, a motor 6 disposed on the opposite side of the first arm 31 with respect to the flange 9, and a strain wave gear device 7 as a reducer disposed on the first arm 31 side with respect to the flange 9, protruding from the opening 322 to the first arm 31 side, and fixed to the first mounting surface 311. Further, the width W3 of the opening 322 is smaller than the width W9 of the flange 9, the width W6 of the motor 6 is smaller than the width W9 of the flange 9, and the width W7 of the strain wave gear device 7 is smaller than the width W3 of the opening 322. The method includes the steps of mounting the joint actuator 52 on the second mounting surface 321 from the side opposite the first arm 31 to cause the strain wave gear device 7 to protrude from the opening 322 toward the first arm 31, screwing the flange 9 to the second arm 32 from the side opposite the first arm 31 using the first screw B1, and screwing the strain wave gear device 7 to the first arm 31 from the side opposite the second arm 32 using the second screw B2. According to this mounting method, the joint actuator 52 can be mounted to the robot 1 while the motor 6 and the strain wave gear device 7 are integrated together. This allows high work efficiency to be achieved.

[0060] As described above, in the method of attaching the joint actuator 52, the joint actuator 52 is attached in a state in which the first arm 31 and the second arm 32 are fixed by the fixing member 100. This makes it easy to attach the joint actuator 52. Furthermore, since the relative positions of the first arm 31 and the second arm 32 do not shift, calibration of the encoder 8 after attaching the joint actuator 52 is not required. This reduces the effort required for replacement or maintenance, and allows the robot 1 to resume operation sooner after the joint actuator 52 is attached.

[0061] As described above, the method for removing the joint actuator 52 is a method for connecting the first arm 31 as a first member having the first mounting surface 311 and the second arm 32 as a second member located on the first mounting surface 311 side with respect to the first arm 31, and having the opening 322 facing the first arm 31 and the second mounting surface 321 located on the opposite side to the first arm 31, and for relatively rotating the first arm 31 and the second arm 32. The joint actuator 52 also has a flange 9 fixed to the second mounting surface 321, a motor 6 disposed on the opposite side of the first arm 31 with respect to the flange 9, and a strain wave gear device 7 as a reducer disposed on the first arm 31 side with respect to the flange 9, protruding from the opening 322 to the first arm 31 side, and fixed to the first mounting surface 311. Moreover, the width W3 of the opening 322 is smaller than the width W9 of the flange 9, the width W6 of the motor 6 is smaller than the width W9 of the flange 9, and the width W7 of the strain wave gear device 7 is smaller than the width W3 of the opening 322. Moreover, the flange 9 is fixed to the second arm 32 from the side opposite the first arm 31 by a first screw B1, and the strain wave gear device 7 is fixed to the first arm 31 from the side opposite the second arm 32 by a second screw B2. The method includes a step of removing the second screw B2, a step of removing the first screw B1, and a step of pulling out the joint actuator 52 to the side opposite the first arm 31. According to this removal method, the joint actuator 52 can be attached to the robot 1 while the motor 6 and the strain wave gear device 7 are integrated together. Therefore, high work efficiency can be achieved.

[0062] As described above, in the method of removing the joint actuator 52, the joint actuator 52 is removed in a state in which the first arm 31 and the second arm 32 are fixed by the fixing member 100. This makes it easy to remove the joint actuator 52.

[0063] As described above, the fixing member 100 fixes the first arm 31 and the second arm 32 when removing the joint actuator 52 from the robot 1 having the first arm 31 as the first member, the second arm 32 as the second member, and the joint actuator 52 that connects the first arm 31 and the second arm 32 and rotates the first arm 31 and the second arm 32 relatively or when attaching the joint actuator 52 to the robot 1, and has a first insertion hole 111 through which the fourth screw B4, which is a screw used for fixing the first arm 31, is inserted, and second insertion holes 121, 131 through which the fifth screw B5, which is a screw used for fixing the second arm 32, is inserted. This makes it possible to fix the first arm 31 and the second arm 32 with a simple configuration.

[0064] As described above, the fixing member 100 does not overlap the working path L1 for attaching and detaching the second screw B2 that fixes the first arm 31 and the joint actuator 52, and does not overlap the working path L2 for attaching and detaching the first screw B1 that fixes the second arm 32 and the joint actuator 52. This means that the fixing member 100 does not hinder the attaching and detaching of the first screw B1 and the second screw B2, and the attaching and detaching of the first screw B1 and the second screw B2 can be performed smoothly.

[0065] As described above, the fixing member 100 has the positioning portions 128, 138 for positioning with respect to the robot 1. This makes it easy to attach the fixing member 100 to the robot 1.

[0066] As described above, the maintenance system used for the robot 1 includes the first arm 31 as a first member, the second arm 32 as a second member, and the joint actuator 52 that connects the first arm 31 and the second arm 32 and rotates the first arm 31 and the second arm 32 relatively, and when removing the joint actuator 52 from the robot 1 or when attaching the joint actuator 52 to the robot 1, the first arm 31 and the second arm 32 are fixed with the fixing member 100. This prevents the first arm 31 and the second arm 32 from shifting during work, and allows the joint actuator 52 to be easily attached and detached.

[0067] Although the robot, the attachment method, the removal method, the fixing member, and the maintenance system of the present invention have been described above based on the illustrated embodiments, the present invention is not limited to these, and the configuration of each part can be replaced with any configuration having a similar function. In addition, any other configuration may be added to the present invention. [Explanation of symbols]

[0068] 1...robot, 10...robot control device, 100...fixed member, 100A...fixed member, 110...bottom, 110A...bottom, 111...first insertion hole, 112...through hole, 120...wall, 120A...wall, 121...second insertion hole, 128...positioning portion, 130...wall, 131...second insertion hole, 138...positioning portion, 2...base, 21...second mounting surface, 22...opening, 3...arm, 31...first arm, 311...first mounting surface, 312...insertion hole, 313...first mounting surface, 3 19...Fixing screw hole, 32...Second arm, 321...Second mounting surface, 322...Opening, 328...Protrusion, 329...Fixing screw hole, 33...Work head, 331...Spline nut, 332...Ball screw nut, 333...Spline shaft, 34...End effector, 39...Cover member, 51...Joint actuator, 52...Joint actuator, 53...Driver, 54...Driver, 6...Motor, 61...Rotor, 611...Shaft, 612...Magnetic Stone, 62... stator, 621... core, 622... coil, 63... housing, 651... bearing, 652... bearing, 7... wave gear device, 71... wave generator, 711... wave generating portion, 712... bearing, 73... flexspline, 731... cylindrical portion, 731a... external teeth, 732... flange portion, 732a... insertion hole, 76... circular spline, 761... connecting portion, 761a... internal teeth, 761b... fixing screw hole, 761c... lower surface, 7 62...fixing portion, 762a...insertion hole, 763...bearing, 8...encoder, 81...optical scale, 82...optical sensor, 9...flange, 91...insertion hole, A...center axis, B1...first screw, B2...second screw, B3...third screw, B4...fourth screw, B5...fifth screw, B6...sixth screw, B7...seventh screw, J1...first rotating shaft, J2...second rotating shaft, J3...third rotating shaft, L1...working path, L2...working path, W3...width, W6...width, W7...width, W8...width, W9...width

Claims

1. A first member having a first mounting surface; a second member located on the first mounting surface side of the first member, the second member having an opening facing the first member and a second mounting surface located on the opposite side to the first member; a joint actuator that connects the first member and the second member and rotates the first member and the second member relative to each other; A first screw that fixes the joint actuator to the second mounting surface; A second screw that fixes the joint actuator to the first mounting surface, The joint actuator includes a motor and a flange provided on the motor and fixed to the second mounting surface; a reducer fixed to the flange, protruding from the opening toward the first member, and fixed to the first mounting surface; and a third screw for fixing the reducer to the flange, The width of the opening is smaller than the width of the flange and larger than the width of the reducer, the width of the motor is smaller than the width of the flange; the first screw fastens the flange to the second member from a side opposite to the first member, and the second screw fastens the reducer to the first member from a side opposite to the second member, The robot is characterized in that the first member has a through hole larger than the second screw in a portion of the first member that is located on the opposite side to the second member from the second screw when viewed in a plan view from the opposite side to the second member.

2. A cover member that is detachably attached to the second member and covers the joint actuator, 2. The robot of claim 1, wherein when the cover member is removed from the second member, a portion of the second member that is located on the opposite side of the first member from the first screw in a planar view from outside the second member and from the second mounting surface side of the second member does not overlap with the first screw.

3. A method for mounting a joint actuator, comprising: connecting a first member having a first mounting surface to a second member located on the first mounting surface side of the first member, the second member having an opening facing the first member and a second mounting surface located on an opposite side to the first member, and rotating the first member and the second member relatively, the method comprising the steps of: The joint actuator includes a motor and a flange provided on the motor and fixed to the second mounting surface; a reducer fixed to the flange, protruding from the opening toward the first member, and fixed to the first mounting surface; a screw for fixing the reducer to the flange, The width of the opening is smaller than the width of the flange and larger than the width of the reducer, the width of the motor is smaller than the width of the flange; placing the joint actuator on the second placement surface from the side opposite to the first member, thereby causing the reducer to protrude from the opening toward the first member; using a first screw to screw the flange to the second member from an opposite side to the first member; and screwing the reducer to the first member from an opposite side to the second member using a second screw, With the second screw attached to the first member, The first member has a through hole larger than the second screw in a portion of the first member that is located on the opposite side of the second member from the second screw when viewed in a plan view from the opposite side of the second member.

4. The mounting method according to claim 3 , wherein the joint actuator is mounted in a state in which the first member and the second member are fixed by a fixing member.

5. After the step of screwing the reducer to the first member, a step of removably attaching a cover member covering the joint actuator to the second member, 5. The mounting method according to claim 3 or 4, wherein when the cover member is removed from the second member, a portion of the second member that is located on the opposite side of the first member from the first screw when viewed from outside the second member and from the second mounting surface side of the second member does not overlap with the first screw.

6. A method for removing a joint actuator, comprising: connecting a first member having a first mounting surface to a second member located on the first mounting surface side of the first member, the second member having an opening facing the first member and a second mounting surface located on an opposite side to the first member; and rotating the first member and the second member relatively, the method comprising: The joint actuator includes a motor and a flange provided on the motor and fixed to the second mounting surface; a reducer fixed to the flange, protruding from the opening toward the first member, and fixed to the first mounting surface; a screw for fixing the reducer to the flange, The width of the opening is smaller than the width of the flange and larger than the width of the reducer, the width of the motor is smaller than the width of the flange; the joint actuator is placed on the second placement surface from the side opposite to the first member, so that the reducer protrudes from the opening toward the first member; The flange is fixed to the second member from an opposite side to the first member by a first screw, the reducer is fixed to the first member from a side opposite to the second member by a second screw; removing the second screw; removing the first screw; and withdrawing the joint actuator to a side opposite to the first member, With the second screw attached to the first member, a removal method characterized in that the first member has a through hole larger than the second screw in a portion of the first member that is located on the opposite side to the second member from the second screw when viewed in a plan view from the opposite side to the second member.

7. The detaching method according to claim 6, wherein the joint actuator is detached in a state in which the first member and the second member are fixed by a fixing member.

8. A cover member that covers the joint actuator is detachably attached to the second member, removing the cover member from the second member before removing the second screw; The removal method according to claim 6 or 7, wherein when the cover member is removed from the second member, a portion of the second member that is located on the opposite side of the first member from the first screw in a plan view from outside the second member and from the second mounting surface side of the second member does not overlap with the first screw.

9. a first member having a first mounting surface, a second member located on the first mounting surface side of the first member, having an opening facing the first member and a second mounting surface located on the opposite side of the first member, and a joint actuator connecting the first member and the second member and rotating the first member and the second member relatively; The robot comprises: A first screw that fixes the joint actuator to the second mounting surface; A second screw that fixes the joint actuator to the first mounting surface, The joint actuator includes: A motor, a flange provided on the motor and fixed to the second mounting surface; a reducer fixed to the flange, protruding from the opening toward the first member, and fixed to the first mounting surface; a screw for fixing the reducer to the flange, The width of the opening is smaller than the width of the flange and larger than the width of the reducer, the width of the motor is smaller than the width of the flange; the first screw fastens the flange to the second member from a side opposite to the first member, and the second screw fastens the reducer to the first member from a side opposite to the second member, the first member has a through hole larger than the second screw in a portion of the first member that is located on the opposite side to the second member than the second screw in a plan view from the opposite side to the second member, The fixing member is a first insertion hole through which a screw used for fixing to the first member is inserted; a second insertion hole through which a screw used for fixing to the second member is inserted, The fixing member is characterized in that, when attached to the first member and the second member, the fixing member has a through hole that includes the second screw when viewed in a plan view from the outside of the fixing member and from the opposite side to the first mounting surface of the first member.

10. does not overlap with a working path for attaching and detaching a screw that fixes the first member and the joint actuator; The fixing member according to claim 9, which does not overlap with a working path for attaching and detaching a screw that fixes the second member and the joint actuator.

11. The fixing member according to claim 9 or 10, further comprising a positioning portion for positioning the fixing member relative to the robot.

12. a first member having a first mounting surface, a second member located on the first mounting surface side of the first member, having an opening facing the first member and a second mounting surface located on an opposite side to the first member, and a joint actuator connecting the first member and the second member and rotating the first member and the second member relatively, the joint actuator being detachably attached to outsides of the first member and the second member and fixing the first member and the second member with a fixing member when removing the joint actuator from a robot or when attaching the joint actuator to the robot, The robot comprises: A first screw that fixes the joint actuator to the second mounting surface; A second screw that fixes the joint actuator to the first mounting surface, The joint actuator includes: A motor, a flange provided on the motor and fixed to the second mounting surface; a reducer fixed to the flange, protruding from the opening toward the first member, and fixed to the first mounting surface; a screw for fixing the reducer to the flange, The width of the opening is smaller than the width of the flange and larger than the width of the reducer, the width of the motor is smaller than the width of the flange; the first screw fastens the flange to the second member from a side opposite to the first member, and the second screw fastens the reducer to the first member from a side opposite to the second member, the first member has a through hole larger than the second screw in a portion of the first member that is located on the opposite side to the second member than the second screw in a plan view from the opposite side to the second member, The fixing member is a first insertion hole through which a screw used for fixing to the first member is inserted; a second insertion hole through which a screw used for fixing to the second member is inserted, A maintenance system characterized in that, when attached to the first member and the second member, the fixing member has a through hole that includes the second screw when viewed from the outside of the fixing member and from the opposite side to the first mounting surface of the first member.

Images