CN102729259B - Robot - Google Patents
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- CN102729259B CN102729259B CN201210106864.2A CN201210106864A CN102729259B CN 102729259 B CN102729259 B CN 102729259B CN 201210106864 A CN201210106864 A CN 201210106864A CN 102729259 B CN102729259 B CN 102729259B
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Abstract
The invention provides a kind of robot, it possesses: make the motor that rotating shaft rotates relative to base station and the drive circuit substrate being formed with the drive circuit to the decomposer that the anglec of rotation of motor detects, this drive circuit substrate is with the state of the installed surface of drive circuit substrate and base deck contact, via by this drive circuit substrate and this base station clips, the elastomeric element with heat conductivity, be installed to be and can move relative to the base station of this robot.
Description
Technical field
The present invention relates to the robot that will the drive circuit substrate of decomposer driven to be configured at base station.
Background technology
In the past, such as, described in patent document 1, be known to the robot carried as the angular sensor of motor by decomposer.In this kind of robot, if cut off the driving power fetching and cut off for motor, decomposer that is electrically connected of robot and controller, even if then the output shaft of motor rotates by external force, decomposer also cannot be utilized to detect the anglec of rotation of motor.Therefore, in patent document 1, the drive circuit substrate of decomposer is connected with battery for subsequent use, even if to have cut off the driving power for motor, decomposer, the anglec of rotation of motor also can be detected.If this kind of structure, then when having cut off the driving power carrying out self-controller, the driving power from battery for subsequent use can be supplied to decomposer, therefore, it is possible to the anglec of rotation of motor when detecting dump.
Patent document 1: Japanese Unexamined Patent Publication 8-305432 publication
In addition in patent document 1, for the drive circuit substrate of decomposer, in order to improve the stability of its action, and the drive circuit substrate of decomposer is configured at the position leaving motor, so as to suppress the vibration from motor, the heat from motor is delivered to drive circuit substrate.On the other hand, occur the surprising robot of speed-raising achievement in recent years, with therewith, the heating of the vibration from motor, the heat from motor and drive circuit substrate itself increased sharply more in the past.Therefore, countermeasure drive circuit substrate being configured at the position leaving motor becomes the action stability can not guaranteeing drive circuit substrate completely, and people seek more effective countermeasure strongly.
Summary of the invention
The present invention completes in view of above-mentioned actual conditions, its object is to for being equipped with the robot to the drive circuit substrate that decomposer drives, provides the robot of the stability of the action that can improve this drive circuit substrate.
Robot of the present invention: base station, relative to above-mentioned base station can movement movable part, make above-mentioned movable part relative to above-mentioned base station movement motor, detect the anglec of rotation of said motor decomposer and drive the drive circuit substrate of above-mentioned decomposer, above-mentioned drive circuit substrate is installed on above-mentioned base station via the flat elastomeric element with heat conductivity, the one side of above-mentioned drive circuit substrate is carried out face with the one side of above-mentioned elastomeric element and is contacted, and another side and the above-mentioned base station of above-mentioned elastomeric element carry out face and contact.
According to this robot, even if be passed to drive circuit substrate based on the vibration of the driving of motor via the base station of robot, the vibration of the thickness direction of elastomeric element and the vibration of in-plane also can be absorbed by the elasticity of elastomeric element.In addition, drive circuit substrate is set up with the state of floating from the base station of robot usually, by arranging the elastomeric element with the heat conductivity of the base deck contact of drive circuit substrate and robot as constituted described above, the heat of circuit substrate is by the base station transmission of elastomeric element to robot, and the heat conductivity therefore between drive circuit substrate and the base station of robot improves.That is, by the elastomeric element of heat conductivity is located between drive circuit substrate and the base station of robot, can suppress to produce vibration in drive circuit substrate, and the heat of this drive circuit substrate easily dispels the heat from the base station of robot.So, reduce the mechanical load for drive circuit substrate and heat load, therefore, it is possible to improve the stability of the action of drive circuit substrate.
In this robot, preferred above-mentioned elastomeric element is insulating element.
If elastomeric element has electric conductivity, then must to avoid forming distribution with the mode of the contact portion of this elastomeric element in drive circuit substrate, therefore, the free degree in design driven circuit substrate significantly reduces.From this side considerations, according to said structure, because elastomeric element is insulating element, so distribution can be formed in the contact portion with elastomeric element, thus the free degree being designed with drive circuit substrate aspect can be improved.
In this robot, preferred above-mentioned elastomeric element carries out face contact with it throughout the ground, whole region of the one side of above-mentioned drive circuit substrate.
Contact although elastomeric element carries out face with the one side of drive circuit substrate, fewer with the contact area of this one side, then the heat conductivity between drive circuit substrate and the base station of robot is lower.From this side considerations, according to said structure, because elastomeric element carries out face contact with it, therefore, it is possible to improve the heat conductivity between drive circuit substrate and elastomeric element throughout the ground, whole region of the one side of drive circuit substrate.
In this robot, preferred above-mentioned base station has the side extended along the direction intersected with the bottom surface of this base station, and above-mentioned drive circuit substrate is installed on above-mentioned side via above-mentioned elastomeric element.
The drive circuit substrate configured along horizontal direction is easily adhered to the foreign matter fallen from top.From this side considerations, according to said structure, when such as base station being arranged at the plane of horizontal plane or approximately horizontal plane, the direction that drive circuit substrate edge and horizontal direction are intersected configures, and therefore can be difficult to adhere to foreign matter compared with the drive circuit substrate configured along horizontal direction.
In this robot, above-mentioned drive circuit substrate is set in the inside of above-mentioned base station, at the outer surface of above-mentioned base station, is corresponding to the fin being provided with heat transmission with the scope of the contact portion of above-mentioned elastomeric element.
By arranging the fin of heat transmission as this robot on base station, the thermal diffusivity of the base station of robot can be improved.And because the fin of this heat transmission is arranged on the scope corresponded to the contact portion of elastomeric element, so can make via elastomeric element, preferentially dispel the heat from the fin of heat transmission from the heat of drive circuit substrate.The heat of drive circuit substrate can be shed efficiently thus.
Preferably this robot has battery, when cut off above-mentioned robot and control above-mentioned robot controller between electrical connection time, this battery becomes the power supply of above-mentioned drive circuit substrate, and preferred above-mentioned drive circuit substrate has storage part, its to based on the detection signal from above-mentioned decomposer, the anglec of rotation of said motor stores.
According to this robot, even if cut off the electrical connection of robot and controller, also battery can be driven decomposer as power supply, and the absolute position of the motor of disengagement phase can be stored in the storage part of drive circuit substrate.
Accompanying drawing explanation
Fig. 1 is the stereogram of the brief configuration representing the robot system that the robot involved by one embodiment of the present invention is formed.
Fig. 2 is the profile along the A-A line in Fig. 1, and is the figure that a part of structure member of omission carries out representing.
Fig. 3 is the profile along the B-B line in Fig. 1, and is the figure that a part of structure member of omission carries out representing.
Fig. 4 is the sectional stereogram of an example of the set-up mode of the radiator represented in variation, and is the figure that a part of structure member of omission carries out representing.
Fig. 5 is the profile representing in variation, be provided with the example importing the base station of the leading-out portion of extraneous air for internally space, and is omit the figure that a part of structure member carries out representing.
Detailed description of the invention
Below, be described with reference to the embodiment of Fig. 1 ~ Fig. 3 to robot involved in the present invention.As shown in Figure 1, the controller 5 forming robot system 1 is connected with the main power source 6 supplying electric power to this controller 5.In addition, robot 10 is connected with controller 5 via connecting line 7a, 7b and connector 8a, 8b.And, utilize the power drive controller 5 that main power source 6 supplies, carry out the supply of the driving power to robot 10, the transmission of robot 10 and the various signals of controller 5 and reception.
The base station 11 of robot 10 forms the box shape be made up of metals such as the high aluminium of heat conductivity, on the equipment using this robot 10, is configured in the not shown configuration plane with plane-parallel.Be linked with rotating shaft 15 at the top 14 of base station 11, this rotating shaft 15 can rotate relative to this base station 11 centered by the rotation centerline C1 extended to vertical direction.Rotating shaft 15 links with the output shaft of the 1st motor M1 be arranged in base station 11, the 1st motor M1 positive and negative rotation, thus rotating shaft 15 rotates relative to base station 11.Link the base end part being fixed with the 1st arm 16 at this rotating shaft 15, the 1st motor M1 positive and negative rotation, thus the 1st arm 16 rotates in horizontal plane relative to base station 11 centered by rotation centerline C1.
Link in the leading section of the 1st arm 16 and be fixed with bolster 17.2nd arm 18 supports as rotating relative to this bolster 17 centered by the rotation centerline C2 vertically extended by bolster 17.Be fixedly installed the 2nd motor M2 at the base end part of the 2nd arm 18, the output shaft of the 2nd motor M2 links with bolster 17 via gear etc.And the 2nd motor M2 positive and reverse return transfers to be subject to reaction force from bolster 17, and the 2nd arm 18 utilizes this reaction force and rotates in horizontal plane relative to the 1st arm 16 centered by rotation centerline C2.
The upper-lower rotating shaft 19 of through 2nd arm 18 is provided with in the leading section of the 2nd arm 18.Upper-lower rotating shaft 19 is can to rotate relative to the 2nd arm 18 and the mode of movement is along the vertical direction supported in the 2nd arm 18.In addition, by making the lift motor M3 positive and negative rotation being arranged at the 2nd arm 18, upper-lower rotating shaft 19 rotation centerline C3 is vertically elevated.By making the rotation motor M4 positive and negative rotation being arranged at the 2nd arm 18, make upper-lower rotating shaft 19 positive and negative rotation centered by the rotation centerline C4 of self vertically.Can at homework department 20 erecting tools of upper-lower rotating shaft 19, the manipulator held transported material, the manipulator etc. processed machined object are such as installed.The various electric wirings be connected with these the 2nd motor M2, lift motor M3, rotation motor M4 via the tube parts 21 be connected with the upper end of the 2nd arm 18 and the top 14 of base station 11 from the 2nd arm 18 to base station 11 distribution.
In addition, in the 1st motor M1, the anglec of rotation of output shaft detecting the 1st motor M1 that is the decomposer R1 of absolute position is built-in with.Decomposer R1 is connected with the drive circuit substrate 25 of the inside being configured at base station 11, and is driven by the driving power that this drive circuit substrate 25 exports.In addition, the anglec of rotation of output shaft that is decomposer R2, R3, R4 of absolute position that detect this motor is built-in with respectively at the 2nd motor M2, lift motor M3 and rotation motor M4.These decomposers R2 ~ R4 is connected with above-mentioned drive circuit substrate 25 via the tube parts 21 be connected with the upper end of the 2nd arm 18 and the top 14 of base station 11 respectively, and is driven by the driving power that this drive circuit substrate 25 exports.And if utilize the power supply supplied from controller 5 to drive drive circuit substrate 25, then decomposer R1 ~ R4 exports the detection signal of the absolute position of the output shaft representing this motor respectively to drive circuit substrate 25.The detection signal from decomposer R1 ~ R4 as analog signal is transformed to data signal by drive circuit substrate 25, and exports the data signal after this conversion to controller 5.
Drive circuit substrate 25 is provided with storage part, and this storage part stores the absolute position of each motor M1 ~ M4 that each decomposer R1 ~ R4 detects with the cycle of regulation.In addition, be configured with for the battery 26 to drive circuit substrate 25 supply power in the inside of base station 11.When having cut off the power supply supply carrying out self-controller 5, battery 26 has supplied the power supply for driving this drive circuit substrate 25 to drive circuit substrate 25.And if cut off the power supply of self-controller 5, then battery 26 supplies driving power to drive circuit substrate 25, and drive circuit substrate 25 drives each decomposer R1 ~ R4.Thus, during having cut off the power supply carrying out self-controller 5, drive circuit substrate 25 has continued the absolute position of each motor M1 ~ M4 to be stored in storage part.And if again from control 5 supply power, then drive circuit substrate 25 exports the signal being stored in the absolute position of each motor M1 ~ M4 of expression of storage part to controller 5.
Next, be described with reference to the mounting means of Fig. 2 and Fig. 3 to above-mentioned drive circuit substrate 25.As shown in Figure 2, on the medial surface 13a of the sidepiece 13 extended along vertical of base station 11, along this medial surface 13a, drive circuit substrate 25 is installed.Drive circuit substrate 25 has the installed surface 27 towards the rectangular shape of the inner side of base station 11, and this installed surface 27 is provided with the connector 28 be connected with connecting line 7a, 7b and not shown multiple electronic units.Be formed with the through hole 29 of through drive circuit substrate 25 in 4 bights of installed surface 27 respectively, loosen respectively in 4 through holes 29 and be inserted with the screw component screwed togather with the sidepiece 13 of base station 11.
Drive circuit substrate 25 and between the side of installed surface 27 opposite side that is the medial surface 13a of installed surface 30 and base station 11, sandwich the elastomeric element 33 carrying out the rectangular flat shape that face contacts with installed surface 30 and medial surface 13a.Elastomeric element 33 is formed as the insulating element with heat conductivity in approximate same size with drive circuit substrate 25, and elastomeric element 33 carries out face contact with it throughout the ground, whole region of the installed surface 30 of drive circuit substrate 25.In this elastomeric element 33, with each through hole 29 position respect to one another above-mentioned, be formed and loosen 4 not shown through holes of insertion for above-mentioned screw component.
And the elastic force of elastomeric element 33 acts on drive circuit substrate 25 from sidepiece 13 towards drive circuit substrate 25 ground, the pressing force that the head of screw component produces acts on drive circuit substrate 25 from drive circuit substrate 25 towards sidepiece 13 ground.Now, drive circuit substrate 25 can move in the scope of screw component relative to through hole 29 movement, and this drive circuit substrate 25 is positioned at the position that above-mentioned elastic force and above-mentioned pressing force balance each other.In other words, drive circuit substrate 25 can move screw component relative to base station 11 and loosen the amount being inserted into through hole 29, or the amount of elastomeric element 33 elastic deformation.
In addition, as the elastomeric element 33 by such Structure composing, the Asker C type hardness tester specified in preferred SRIS0101 (Japan rubber association criterion specification) is less than 30, pyroconductivity is more than 1 [W/mK].As the elastomeric element meeting such condition, Zhu Nei Industrial Co., Ltd (TAKEUCHI INDUSTRY Co. can be listed, LTD.) " TMS-22 " that manufacture (Asker C type hardness tester is 25, and pyroconductivity is 2.2 [W/mK], specific insulation 1.0 × 10
12[Ω cm]) and " FEATHER-S3S " (Asker C type hardness tester is 5, and pyroconductivity is 2 [W/mK]) of manufacturing of Bao Lima Electronics Co., Ltd (POLYMATECH Co., Ltd.).
Next, the effect of the elastomeric element 33 be folded between drive circuit substrate 25 and sidepiece 13 is described.
In the robot 10 of said structure, the vibration based on the driving of each motor M1 ~ M4 is transmitted to base station 11 via each arm 16,18 of robot 10.Now, the vibration on thickness direction the vibration of transmitting from base station 11 to drive circuit substrate 25, elastomeric element 33 is absorbed by the elasticity of elastomeric element 33.In addition, be inserted into through hole 29 because screw component loosens, thus the vibration of transmitting from base station 11 to drive circuit substrate 25, vibration on the in-plane of installed surface 27 also absorbs by elastomeric element 33.In addition, such as when the connection of each connector 28 that operator removes drive circuit substrate 25 with electric wiring etc., even if operator is applied with the power for drive circuit substrate 25 being bent when maintaining robot 10, this power also can by dispersion to drive circuit substrate 25 and elastomeric element 33.
In addition, drive circuit substrate 25 is usually to make the state that the installed surface 30 of drive circuit substrate 25 floats from the medial surface 13a of base station 11 arrange, but by the elastomeric element 33 of sandwiched heat conductivity between drive circuit substrate 25 and base station 11, thus the heat of drive circuit substrate 25 is transmitted by the base station 11 of elastomeric element 33 to robot 10, the heat conductivity therefore between drive circuit substrate 25 and base station 11 improves.And because elastomeric element 33 is throughout ground, the whole region face contact with it of installed surface 30, compared with situation about therefore contacting with elastomeric element 33 and a part of face of installed surface 30, the heat conductivity between drive circuit substrate 25 and elastomeric element 33 improves.
In addition, because the elastomeric element 33 producing above-mentioned effect is insulating elements, therefore also can the contact portion with this elastomeric element 33, the installed surface 30 of drive circuit substrate 25 forms distribution.
As mentioned above, robot 10 involved according to the present embodiment, can obtain the following effect enumerated.
(1) according to above-mentioned embodiment, by arranging the thermal conductive elastic parts 33 contacted with the medial surface 13a of sidepiece 13 with the installed surface 30 of drive circuit substrate 25, mechanical load and the heat load of this drive circuit substrate 25 can be reduced.Its result, can improve the stability of the action of drive circuit substrate 25.
(2) because the elastomeric element 33 of above-mentioned embodiment is insulating element, so compared with the situation that there is electric conductivity with elastomeric element 33, the free degree of design driven circuit substrate 25 aspect can be improved.
(3) in the above-described embodiment, by making elastomeric element 33 throughout ground, the whole region face contact with it of the installed surface 30 of drive circuit substrate 25, improve the heat conductivity between drive circuit substrate 25 and elastomeric element 33, therefore, the heat of drive circuit substrate 25 can easily be absorbed by elastomeric element 33.Its result, can reduce the heat load for drive circuit substrate 25 further.
(4) in the above-described embodiment, drive circuit substrate 25 is installed on the medial surface 13a of the sidepiece 13 vertically extended, and therefore, drive circuit substrate 25 configures in the mode of its installed surface 27 along vertical.According to such structure, compared with the drive circuit substrate configured in installed surface 27 mode along the horizontal plane, the foreign matter produced in base station 11 can be suppressed to fall and be attached to drive circuit substrate 25.
(5) robot 10 of above-mentioned embodiment is equipped with battery 26, and when having cut off the power supply carrying out self-controller 5, this battery 26 is to each decomposer R1 ~ R4 supply power.In addition, the drive circuit substrate being formed as drive circuit substrate 25 is provided with storage part, this storage part to based on come each decomposer R1 ~ R4 that free battery 26 drives detection signal, the absolute position of each motor M1 ~ M4 stores.According to such structure, even if during having cut off the electrical connection between controller 5 and robot 10, also can drive each decomposer R1 ~ R4, and the absolute position of each motor M1 ~ M4 can be stored in storage part.
In addition, above-mentioned embodiment can carry out changing as follows implementing.
In the above-described embodiment, radiator can be set at base station 11.Fig. 4 is utilized to be described this structure.
As shown in Figure 4, on the lateral surface 13b of the sidepiece 13 of base station 11, the mode covered corresponding to the scope of the contact portion with elastomeric element 33 and medial surface 13a is provided with the radiator 35 be made up of multiple heat fin 36.According to such structure, the thermal diffusivity of base station 11 self can be improved, and can make via elastomeric element 33, preferentially dispel the heat from radiator 35 from the heat of drive circuit substrate 25.That is, compared with the structure of radiator 35 is not set, the heat of drive circuit substrate 25 can be made to dispel the heat efficiently.
Although the robot 10 of above-mentioned embodiment has the base station 11 formed in the mode of inner airtight space, also can have internally space and import the structure of extraneous air.Fig. 5 is utilized to be described this structure.
As shown in Figure 5, the leading-out portion 41 with the access 40 be communicated with the inner space of base station 11 is arranged at the sidepiece 13 of base station 11 and the position of close drive circuit substrate 25, and this leading-out portion 41 is connected with not shown vavuum pump.And, by utilizing vavuum pump, the inner space of base station 11 can be formed as the negative pressure lower than external air pressure, internally import extraneous air in space from the gap of base station 11 thus.According to such structure, the extraneous air of importing can be utilized to suppress the rising of the temperature of inner space.Therefore, except the effect described in above-mentioned (1) ~ (5), the heat radiation from installed surface 27 of drive circuit substrate 25 can also be promoted.And, by the convection current arranging leading-out portion 41 near the position of drive circuit substrate 25 and promote around drive circuit substrate 25, the heat radiation from installed surface 27 of drive circuit substrate 25 therefore also can be carried out efficiently.In addition, for this structure, also can form at base station 11 introduction part 42 importing extraneous air as shown in Figure 5.
The robot 10 of above-mentioned embodiment has the battery 26 as the power supply of each decomposer R1 ~ R4 during the supply having cut off the power supply carrying out self-controller 5, further, drive circuit substrate 25 is provided with to during this period, the storage part that stores from the detection signal of each decomposer R1 ~ R4.Change this, such as, the negligible situation of change of the absolute position of during the supply having cut off the power supply carrying out self-controller 5, each motor M1 ~ M4 is inferior, can omit these battery 26 and storage parts.According to such structure, except the effect described in above-mentioned (1) ~ (4), the structure of base station 11 and drive circuit substrate 25 can also be simplified.
In the above-described embodiment, drive circuit substrate 25 is installed on the medial surface 13a of the sidepiece 13 of base station 11, i.e. the inner surface of base station 11.This is changed, if drive circuit substrate 25 is mounted via elastomeric element 33, then also drive circuit substrate 25 can be installed on the outer surface of base station 11.
In the above-described embodiment, the mode that medial surface 13a that extend along the vertical orthogonal to the bottom surface 12a with base station 11 with installed surface 27, sidepiece 13 configures is provided with drive circuit substrate 25.Change this, the installed surface 27 of drive circuit substrate 25 such as also can be installed on base station 11 on direction that is parallel with the direction, face of bottom surface 12a or that intersect.Such structure also can obtain the effect described in above-mentioned (1) ~ (3).
In the above-described embodiment, elastomeric element 33 is configured to contact with it throughout the ground, whole region of the installed surface 30 of drive circuit substrate 25.Change this, installed surface 30 and the contact portion of elastomeric element 33 of drive circuit substrate 25 also can be the parts in installed surface 30.Such as, elastomeric element 33 can be amesiality in installed surface 30 with the contact portion of installed surface 30, also can be arranged in multiple positions of installed surface 30.Such structure also can obtain effect described in above-mentioned (1) (2).Than outward, in such a configuration, preferably to arrange contact portion with mode corresponding to higher part that rise of the temperature in drive circuit substrate 25.
The elastomeric element 33 of above-mentioned embodiment is formed by insulating element.Change this, elastomeric element 33 also can have electric conductivity, but needs to make distribution can not the short circuit because of elastomeric element to circuit substrate design.According to such structure, except the effect described in above-mentioned (1), the free degree of the selection about elastomeric element 33 can also be improved, and the elastomeric element that conforms to the mechanical condition required by elastomeric element 33 can be selected.
In above-mentioned form of implementation, the present invention is embodied as the robot 10 of horizontal articulated robot.Not limited thereto, the present invention also can be applicable to following robot, and this robot utilizes decomposer to detect the absolute position making the motor of movable part movement, and carries the circuit substrate being formed with the drive circuit of this decomposer.
The drive circuit substrate 25 of above-mentioned embodiment is installed to be, by by loosen be inserted into the through hole being formed at this drive circuit substrate 25 and the through hole being formed at elastomeric element 33 screw component and can move relative to base station 11.Be not limited thereto, in drive circuit substrate 25 is installed to be and can moves relative to base station 11, can also be in the following way, such as by making the contact surface of elastomeric element have adherence, the elastomeric element being bonded with drive circuit substrate 25 is bonded on base station 11, thus is arranged on the mode on base station 11.In addition, also in the following way, such as, can not utilize screw component, and on the basis accompanying elastomeric element 33, use spring members that drive circuit substrate 25 is arranged on the mode on base station 11.
In the above-described embodiment, although robot 10 is set up in the horizontal plane, the installation surface of robot 10 is not limited to horizontal plane.In addition, preferably with the set-up mode configuration driven circuit substrate 25 accordingly of robot 10, even if thus the foreign matter produced in base station 11 fall, be also difficult to be attached in this drive circuit substrate 25.
Symbol description
C1, C2, C3, C4... rotation centerline; M1... the 1st motor; M2... the 2nd motor; M3... lift motor; M4... rotation motor; R1, R2, R3, R4... decomposer; 1... robot device; 5... controller; 6... main power source; 7a, 7b... connecting line; 8a, 8b... connector; 10... robot; 11... base station; 12... bottom; 12a... bottom surface; 13... sidepiece; 13a... medial surface; 13b... lateral surface; 14... top; 15... rotating shaft; 16... the 1st arm; 17... bolster; 18... the 2nd arm; 19... upper-lower rotating shaft; 20... homework department; 21... tube parts; 25... drive circuit substrate; 26... battery; 27... installed surface; 28... connector; 29... through hole; 30... installed surface; 33... elastomeric element; 35... radiator; 36... fin; 40... access; 41... leading-out portion; 42... introduction part.
Claims (7)
1. a robot, is characterized in that, possesses:
Base station;
Can the movable part of movement relative to above-mentioned base station;
Make above-mentioned movable part relative to the motor of above-mentioned base station movement;
Detect the decomposer of the anglec of rotation of said motor; And
Drive the drive circuit substrate of above-mentioned decomposer,
Wherein,
Said motor and above-mentioned drive circuit substrate are all arranged in above-mentioned base station and split is arranged, above-mentioned drive circuit substrate is via having heat conductivity and flexible elastomeric element is installed on above-mentioned base station, a part for above-mentioned drive circuit substrate contacts with a part for above-mentioned elastomeric element, and a part for above-mentioned elastomeric element contacts with a part for above-mentioned base station.
2. robot according to claim 1, is characterized in that,
Above-mentioned elastomeric element is insulating element.
3. robot according to claim 1, is characterized in that,
Above-mentioned elastomeric element carries out face throughout the whole region of the one side of above-mentioned drive circuit substrate with the one side of above-mentioned drive circuit substrate and contacts.
4. robot according to claim 2, is characterized in that,
Above-mentioned elastomeric element carries out face throughout the whole region of the one side of above-mentioned drive circuit substrate with the one side of above-mentioned drive circuit substrate and contacts.
5. the robot according to any one of Claims 1 to 4, is characterized in that,
Above-mentioned base station has the side that the direction that intersects to the bottom surface with this base station extends,
Above-mentioned drive circuit substrate is installed on above-mentioned side via above-mentioned elastomeric element.
6. the robot according to any one of Claims 1 to 4, is characterized in that,
At the outer surface of above-mentioned base station, corresponding to the fin being provided with heat transmission with the scope of the contact portion of above-mentioned elastomeric element.
7. the robot according to any one of Claims 1 to 4, is characterized in that,
There is battery, when cut off above-mentioned robot and control above-mentioned robot controller between electrical connection time, this battery becomes the power supply of above-mentioned drive circuit substrate,
Above-mentioned drive circuit substrate has:
Storage part, its to based on the detection signal from above-mentioned decomposer, the anglec of rotation of said motor stores.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011089771A JP6039887B2 (en) | 2011-04-14 | 2011-04-14 | robot |
| JP2011-089771 | 2011-04-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102729259A CN102729259A (en) | 2012-10-17 |
| CN102729259B true CN102729259B (en) | 2015-09-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201210106864.2A Active CN102729259B (en) | 2011-04-14 | 2012-04-12 | Robot |
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| JP (1) | JP6039887B2 (en) |
| CN (1) | CN102729259B (en) |
Families Citing this family (12)
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|---|---|---|---|---|
| JP6268920B2 (en) * | 2013-10-28 | 2018-01-31 | セイコーエプソン株式会社 | robot |
| JP6320104B2 (en) * | 2014-03-24 | 2018-05-09 | Ｇｋｎドライブラインジャパン株式会社 | Driving force transmission device and vehicle equipped with driving force transmission device |
| JP6455050B2 (en) * | 2014-09-30 | 2019-01-23 | セイコーエプソン株式会社 | robot |
| JP2017127914A (en) * | 2016-01-19 | 2017-07-27 | セイコーエプソン株式会社 | Robot and robot system |
| JP6998115B2 (en) * | 2017-02-27 | 2022-01-18 | 川崎重工業株式会社 | Robot controller |
| JP6958200B2 (en) * | 2017-09-29 | 2021-11-02 | セイコーエプソン株式会社 | robot |
| JP7130932B2 (en) * | 2017-09-29 | 2022-09-06 | セイコーエプソン株式会社 | robot |
| WO2019167418A1 (en) * | 2018-03-01 | 2019-09-06 | パナソニックＩｐマネジメント株式会社 | Robot |
| TWI737948B (en) * | 2018-12-06 | 2021-09-01 | 台達電子工業股份有限公司 | Robot mechanism |
| CN111283657B (en) | 2018-12-06 | 2021-12-24 | 台达电子工业股份有限公司 | Robot mechanism |
| WO2023112093A1 (en) * | 2021-12-13 | 2023-06-22 | ファナック株式会社 | Articulated robot |
| EP4338894A1 (en) * | 2022-09-14 | 2024-03-20 | Kassow Robots ApS | Integrated control unit |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6039887B2 (en) | 2016-12-07 |
| CN102729259A (en) | 2012-10-17 |
| JP2012218136A (en) | 2012-11-12 |
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