Robot and cover

Abstract

A robot 12 comprises: articular parts 14A, 14B; an actuator that drives the articular parts 14A, 14B; a wiring member disposed outside the actuator; and a cover 50 that covers at least the actuator. The cover 50 is provided with cover bodies 60A, 60B, and wiring accommodation parts 62A, 62B that expand in a direction away from the actuator further beyond the cover bodies 60A, 60B, and that accommodate the wiring member therein. The cover 50 may be divided into at least a first divided body 80 and a second divided body 82.

Description

Robot and cover

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

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

[0003] Japanese Patent Application Publication No. 03-121791

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

[0005] One of the objects of the present disclosure is to provide a technique for advantageously reducing the size of an actuator unit.

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

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

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

[0009] 1. A perspective view of a robot according to an embodiment. An enlarged view of a range S1 in FIG. 1. A perspective view with the cover omitted from FIG. 2. A front cross-sectional view schematically showing the actuator together with a portion of a cross-section cut along the first output axis L24A in FIG. 2. A left side cross-sectional view schematically showing the actuator together with a portion of a cross-section cut along the second output axis L24B in FIG. 2. A perspective view of a connecting member as viewed from arrow V1 in FIG. 2. A front view of a portion of FIG. 3. A perspective view of the cover and connecting member as viewed from the same perspective as FIG. 6. A perspective view of the cover as viewed from the same perspective as FIG. 6. A front view of the cover according to an embodiment. A left side view of the cover according to an embodiment. A view showing a portion of the XII-XII cross-section in FIG. 10. A view showing a portion of the XIII-XIII cross-section in FIG. 11. An exploded view of a portion of the range S1 in FIG. 1 as viewed from the front. A cross-sectional view of only the cover as viewed from the same perspective as FIG. 13. A cross-sectional view taken along XVI-XVI in FIG. 15. 17(A) is a schematic diagram showing a cover of a modified form as seen from the arrow V2 view of FIG. 12, and FIG. 17(B) is a cross-sectional view taken along line A-A of FIG. 17(A). A perspective view of the cover of the embodiment. A top view of the cover of the embodiment. A right side view of the cover of the embodiment. A bottom view of the cover of the embodiment. A rear view of the cover of the embodiment. Another front view of the cover of the embodiment. Another left side view of the cover of the embodiment. Another perspective view of the cover of the embodiment. Yet another perspective view of the cover of the embodiment.

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

[0011] Referring to Fig. 1, an actuator unit 10 according to the embodiment is a robot 12. The robot 12 according to the embodiment is an industrial robot, but may also be a service robot or the like. The robot 12 may also be a collaborative robot that works in collaboration with humans.

[0012] The robot 12 includes a joint 14 and a plurality of robot members 16 connected in series by the joints 14. The robot 12 of this embodiment is a multi-joint robot with five joints. The number of joints is not particularly limited and may be one to four, six or more. The robot member 16 closest to the base end of the robot 12 is a base member 18 that serves as a pedestal placed on the floor, and the other robot members 16 are either arm members 20 or connecting members 22 (described below). Here, the plurality of joints 14 are distinguished as first to fifth joint stages from the base end to the tip end of the robot 12. Furthermore, the plurality of robot members 16 are distinguished as first to sixth robot members from the base end to the tip end of the robot 12.

[0013] 2 and 3, the configuration around the second and third stage joints 14, which are enclosed by the area S1 in Fig. 1, will be described below. This configuration will be described using different reference numerals from those in Fig. 1.

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

[0015] The actuator unit 10 (robot 12) includes actuators 24A and 24B that drive joints 14A and 14B. Here, "driving a joint" refers to driving a distal robot member to rotate (move relative to) a proximal robot member connected by a joint. The term "rotation" here also encompasses so-called pivoting. The actuators 24A and 24B include a first actuator 24A that drives the first joint 14A and a second actuator 24B that drives the second joint 14B. The actuators 24A and 24B are incorporated into the joints 14A and 14B and connect the proximal robot member and the distal robot member. The robot 12 also includes actuators incorporated into joints other than the second and third joints.

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

[0017] The motor 30 includes a motor casing 30a that houses a stator and a rotor (not shown). There are no particular limitations on the motor 30, and it may be, for example, a DC motor or an AC motor.

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

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

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

[0021] The actuators 24A and 24B output output rotations about the output axes L24A and L24B from the output portion 32d of the reducer 32 to the driven member, thereby rotating the driven member relative to the external support member. The first actuator 24A outputs output rotations about the first output axis L24A, thereby rotating the second robot member 16B relative to the first robot member 16A, thereby driving the first joint unit 14A. The second actuator 24B outputs output rotations about the second output axis L24B, thereby rotating the third robot member 16C relative to the second robot member 16B, thereby driving the second joint unit 14B. Hereinafter, the direction along the first output axis L24A, the circumferential direction about the first output axis L24A, and the radial direction about the circle centered on the first output axis L24A will be referred to as the first axial direction X, the first circumferential direction, and the first radial direction, respectively. Furthermore, the direction along the second output axis L24B, and the circumferential and radial directions about the second output axis L24B are referred to as the second axial direction Y, the second circumferential direction, and the second radial direction, respectively.

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

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

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

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

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

[0027] The wiring member 40 includes at least one wire 44A, 44B. In this embodiment, the wiring member 40 includes multiple wires 44A, 44B and covering tubes 46A, 46B that bundle the intermediate portions of the multiple wires 44A, 44B. The multiple wires 44A, 44B include, for example, multiple power supply wires 44A that form a power supply line and multiple communication wires 44B that form a communication line. The power supply line is connected to an external power source via a daisy chain that passes through each of the actuators 24A, 24B, and contributes to the supply of power from the external power source to the actuators 24A, 24B. The communication line is connected to a host controller via a daisy chain that passes through each of the actuators 24A, 24B, and contributes to signal transmission between the actuators and the host controller. Only the power supply wire 44A and the communication wire 44B that form the daisy chain are shown here. While the wiring 44A, 44B are shown as being mechanically connected to the electrical devices 42A, 42B via connectors 48, the connection method is not particularly limited, and solder, a terminal block, terminals (crimp terminals, insulation displacement terminals, etc.), etc. may be used. The connector 48 in this embodiment passes through an opening provided in the actuator casing 36. In this embodiment, the plurality of communication wirings 44B are bundled together by a first covering tube 46A, and the first covering tube 46A and the plurality of power supply wirings 44A are bundled together by a second covering tube 46B. In FIG. 3, circles are marked at both ends of the outermost second covering tube 46B. The purpose and number of the wirings 44A, 44B, as well as the presence or absence of covering tubes 46A, 46B, are not particularly limited.

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

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

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

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

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

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

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

[0035] 2, 3, 10, and 11. The cover 50 includes cover main bodies 60A, 60B and wiring storage portions 62A, 62B that constitute the cover portions 52, 54. The cover 50 of this embodiment includes a first cover main body 60A and a first wiring storage portion 62A that constitute the first cover portion 52, and a second cover main body 60B and a second wiring storage portion 62B that constitute the second cover portion 54. The first cover main body 60A constitutes the entire first cover portion 52 except for the first wiring storage portion 62A. The second cover main body 60B constitutes the entire second cover portion 54 except for the second wiring storage portion 62B. The first cover portion 52, the first cover main body 60A, the first wiring storage portion 62A, and the first actuator 24A correspond to one another, and the second cover portion 54, the second cover main body 60B, the second wiring storage portion 62B, and the second actuator 24B correspond to one another.

[0036] 2, 12, and 13. The wiring storage sections 62A, 62B bulge out further from the corresponding cover main body sections 60A, 60B in a direction away from the corresponding actuators 24A, 24B, and a portion of the wiring member 40 is stored therein. The first wiring storage section 62A bulges out further from the first actuator 24A than the first cover main body section 60A, and the second wiring storage section 62B bulges out further from the second actuator 24B than the second cover main body section 60B. The wiring storage sections 62A, 62B are provided in at least one of the peripheral wall sections 52a, 54a and end wall sections 52b, 54b of the corresponding cover sections 52, 54. That is, the first wiring storage portion 62A is provided on at least one of the first peripheral wall portion 52a and the first end wall portion 52b, and the second wiring storage portion 62B is provided on at least one of the second peripheral wall portion 54a and the second end wall portion 54b. In this embodiment, the first wiring storage portion 62A is provided on the first peripheral wall portion 52a, and the second wiring storage portion 62B is provided on the second peripheral wall portion 54a. When the wiring storage portions 62A, 62B are provided on the peripheral wall portions 52a, 54a in this manner, the direction in which they move away from their corresponding actuators 24A, 24B refers to the radially outer side of the actuators 24A, 24B. When the wiring storage portions 62A, 62B are provided on the end wall portions 52b, 54b of the cover 50, the direction in which they move away from their corresponding actuators 24A, 24B refers to the axially outer side of the actuators 24A, 24B.

[0037] The first wiring storage section 62A stores the first wiring portion 40a of the wiring member 40, and the second wiring storage section 62B stores the second wiring portion 40b of the wiring member 40. One end 62Aa of the first wiring storage section 62A and one end 62Ba of the second wiring storage section 62B are connected, and the internal spaces therein for storing the wiring member 40 are also connected. In this embodiment, the other end 62Ab of the first wiring storage section 62A extends to the first end wall portion 52b of the cover 50, and the other end 62Bb of the second wiring storage section 62B extends to the second end wall portion 54b of the cover 50. Although the wiring storage sections 62A, 62B extend linearly overall, they may extend in any linear manner, such as a curved line.

[0038] The direction perpendicular to (intersecting) the direction away from the actuators 24A, 24B and the lengthwise direction of the wiring storage portions 62A, 62B is referred to as the widthwise direction Da of the wiring storage portions 62A, 62B. Here, the lengthwise direction of the wiring storage portions 62A, 62B refers to the direction in which the outer protrusions 66 (inner grooves 68) (described later) formed by the wiring storage portions 62A, 62B extend. The cover main bodies 60A, 60B include widthwise continuous portions 64 that are continuous with the wiring storage portions 62A, 62B in the widthwise direction Da. These widthwise continuous portions 64 are provided so as to conform to the outer shapes of the actuators 24A, 24B that they cover. Here, "provided so as to conform to the outer shapes" does not mean that the widthwise continuous portions 64 are provided so as to match the outer shapes of the actuators 24A, 24B that they cover, but rather that the widthwise continuous portions 64 are provided so as to have a shape similar to the outer shapes of the actuators 24A, 24B that they cover. In this embodiment, the widthwise continuous portion 64 has a circumferential (arcuate) shape that fits along the peripheral wall portions 52 a, 54 a of the actuators 24 A, 24 B. The wiring storage portions 62 A, 62 B bulge in a direction away from the actuators 24 A, 24 B relative to the widthwise continuous portion 64 of the cover main body portions 60 A, 60 B.

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

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

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

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

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

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

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

[0046] When adjacent segments 80, 82 are moved relatively toward each other in a connection direction Db, the engaging portions 90 engage with the engaged portions 92, thereby connecting them. During this process, the elastic claws constituting the engaging portions 90 are elastically deformed to engage with the claw receiving portions. Furthermore, when adjacent segments 80, 82 are moved relatively away from each other in a connection release direction Dc, the engaging portions 90 are disengaged from the engaged portions 92, thereby disconnecting them. During this process, the elastic claws constituting the engaging portions 90 are elastically deformed to disengage from the claw receiving portions. The connection direction Db and connection release direction Dc are parallel to the direction in which adjacent segments 80, 82 face each other at the boundary 84b, and in this embodiment, are along the first axial direction X (the width direction Da of the second wiring storage portion 62B).

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

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

[0049] Next, the second divided body 82 is moved toward the first divided body 80 in the first axial direction X (to the left side of the paper in the figure). This causes the first divided body 80 and the second divided body 82 to move relatively in the connection direction Db, and the first divided body 80 and the second divided body 82 are connected by the engaging unit 94. As a result, the first and second actuators 24A and 24B are disposed inside the first and second divided bodies 80 and 82. Furthermore, the second wiring portion 40b of the wiring member 40 is disposed in the second wiring housing portion 62B of each divided body 80 and 82. Thereafter, the second cover fixing portion 86B (not shown) of the second divided body 82 is fixed to the mating member (here, the connecting member 22) using the second fixing device. During this process, the divided bodies 80 and 82 are moved toward each other in the width direction Da of the second wiring housing portion 62B.

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

[0051] (A) In this regard, the two divided bodies 80, 82 in this embodiment are provided to divide the second wiring housing portion 62B in the width direction Da. Therefore, by moving the individual divided bodies 80, 82 toward each other from both sides of the second wiring housing portion 62B in the width direction Da relative to the second wiring portion 40b of the wiring member 40, the second cover portion 54 of the cover 50 can be placed over the outside of the second actuator 24B and the second wiring portion 40b of the wiring member 40. Therefore, when placing the second cover portion 54 of the cover 50 over the outside of the second actuator 24B and the second wiring portion 40b of the wiring member 40, interference between the second wiring portion 40b of the wiring member 40 and the cover 50 is less likely to occur, resulting in good assembly ease.

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

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

[0054] The cover 50 includes wiring storage portions 62A, 62B that bulge out further from the cover main bodies 60A, 60B in a direction away from the actuators 24A, 24B and store the wiring member 40 therein. Therefore, the cover main bodies 60A, 60B are as close to the outer shapes of the actuators 24A, 24B as possible, while ensuring storage space for the wiring member 40 within the wiring storage portions 62A, 62B, which bulge out further from the cover main bodies 60A, 60B. Therefore, in a cross section perpendicular to the longitudinal direction of the wiring storage portions 62A, 62B, it is possible to avoid enlargement of a portion of the cover main bodies 60A, 60B (widthwise continuous portions 64 of the cover main bodies 60A, 60B) compared to a case in which the inner surfaces of the portions are spaced apart from the outer shapes of the actuators 24A, 24B by the same amount as the minimum distance from the outer shapes of the actuators 24A, 24B to the bottoms of the wiring storage portions 62A, 62B. This is advantageous for reducing the size of the actuator unit 10 .

[0055] By accommodating a portion of the wiring member 40 in the wiring storage sections 62A, 62B of the cover 50, it is possible to restrict movement of the wiring member 40 in the width direction within the wiring storage sections 62A, 62B. This in turn reduces the risk that the end of the wiring member 40 will become detached from the electrical device 42A, 42B due to movement of the wiring member 40.

[0056] Adjacent segments 80, 82 are connected by engaging the engaging portion 90 of one of the first and second segments 80, 82 with the engaged portion 92 of the other. Therefore, portions of adjacent segments 80, 82 can be connected without using dedicated components (e.g., screws) for connecting adjacent segments 80, 82. In particular, when three-dimensionally shaped segments 80, 82 are formed from resin molded products formed by three-dimensional shaping, variations in the distance at the boundaries between adjacent segments 80, 82 are likely to occur due to molding errors. Depending on the magnitude of this variation, large gaps may occur partially between adjacent segments 80, 82. In this regard, in this embodiment, the adjacent segments 80, 82 are moved relatively toward each other in the connecting direction Db, whereby the engaging portion 90 engages with the engaged portion 92. Therefore, even if such a large partial gap occurs, the adjacent divided bodies 80, 82 can be moved relatively in the connecting direction Db to narrow the gap, and then the engaging portion 90 can be engaged with the engaged portion 92. Therefore, it is possible to connect the adjacent divided bodies 80, 82 with the gap narrowed or eliminated.

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

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

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

[0060] Next, modified embodiments of the cover 50 will be described. See FIGS. 17A and 17B . The cover 50 may include a restraining portion 100 that restrains movement of an intermediate portion of the wiring member 40. The restraining portion 100 is provided within the inner groove 68 of the wiring storage portion 62A. The restraining portion 100 is configured by a pair of rib portions 100a provided on the pair of inner surfaces of the inner groove 68. The pair of rib portions 100a are provided so as to protrude from the inner surface in a direction that narrows the groove width of the inner groove 68. By disposing a portion of the wiring member 40 within the restraining portion 100, movement of that portion in the width direction Da of the wiring storage portion 62A is restrained more than in the absence of the restraining portion 100. This reduces the risk that the end of the wiring member 40 will become detached from the electrical device 42A, 42B due to movement of the intermediate portion of the wiring member 40.

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

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

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

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

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

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

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

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

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

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

[0071] The above-described embodiments and variations are merely examples. The abstract technical ideas should not be interpreted as being limited to the contents of the embodiments. Many design changes are possible in the contents of the embodiments, such as changes, additions, and deletions of components. In the above-described embodiments, the contents that allow such design changes are emphasized by adding the notation "embodiment." However, design changes are also permitted even in contents that do not have such notation. Hatching on cross sections in the drawings does not limit the material of the hatched objects.

[0072] The present disclosure relates to a cover used in an actuator unit of a robot or the like.

[0073] 10...actuator unit, 12...robot, 14A...first joint portion, 14B...second joint portion, 22...connecting member, 24A...first actuator, 24A, 24B...second actuator, 40...wiring member, 40a...first wiring portion, 40b...second wiring portion, 50...cover, 60A, 60B...cover main body portion, 62A...first wiring storage portion, 62B...second wiring storage portion, 80...first divided body, 82...second divided body, 90...engaging portion, 92...engaged portion, 100...restraint portion.

Claims

1. A robot comprising a joint, an actuator that drives the joint, a wiring member arranged on the outside of the actuator, and a cover that covers at least the actuator, wherein the cover comprises a cover main body and a wiring storage section that bulges out in a direction away from the actuator more than the cover main body, and within which the wiring member is stored.

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

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

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

5. A robot as described in any one of claims 2 to 4, wherein the first divided body and the second divided body are connected by an engaging portion provided on one of the first divided body and the second divided body engaging with an engaged portion provided on the other of the first divided body and the second divided body.

6. A robot as claimed in any one of claims 1 to 5, wherein the joint section includes a first joint section and a second joint section, the actuator includes a first actuator that drives the first joint section and a second actuator that drives the second joint section, and the cover covers both the first actuator and the second actuator.

7. The robot described in claim 6, wherein the wiring member comprises a first wiring section arranged to conform to the outer shape of the first actuator and a second wiring section arranged to conform to the outer shape of the second actuator, and the wiring storage section includes a first wiring storage section that stores the first wiring section and a second wiring storage section that stores the second wiring section.

8. The robot according to claim 6 or 7, further comprising a connecting member that connects the first actuator and the second actuator, and the cover covers the connecting member.

9. A robot according to any one of claims 1 to 8, wherein the cover is provided with a restraining portion that restrains movement of an intermediate portion of the wiring member.

10. A cover used for an actuator unit having an actuator and a wiring member arranged outside the actuator, covering the actuator, the cover comprising: a cover main body portion; and a wiring storage portion that bulges out in a direction away from the actuator more than the cover main body portion, and in which the wiring member is stored.

Images