CN104061318A - Driving mechanism and robot - Google Patents
Driving mechanism and robot Download PDFInfo
- Publication number
- CN104061318A CN104061318A CN201410016536.2A CN201410016536A CN104061318A CN 104061318 A CN104061318 A CN 104061318A CN 201410016536 A CN201410016536 A CN 201410016536A CN 104061318 A CN104061318 A CN 104061318A
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- Prior art keywords
- driving mechanism
- robot
- gear
- connecting body
- oiling agent
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0412—Cooling or heating; Control of temperature
- F16H57/0413—Controlled cooling or heating of lubricant; Temperature control therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0062—Lubrication means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
- General Details Of Gearings (AREA)
Abstract
The invention provides a driving mechanism and a robot simply cooling lubrication agent filled in a gear case. Concretely, the mechanism comprises a gear case accommodating a gear group conveyed to a driven body via power of a driving source, a lubrication agent filled with lubrication agent group and arranged in a specified component and a lubrication agent circulation loop connected to the gear case and enabling the lubrication agent to circulate. The lubrication agent circulation loop is provided with an external circulation part passing through the exterior of the specified component; and with the above structure, lubrication agent filled in the gear case can be simply cooled.
Description
Technical field
Disclosed mode of execution relates to a kind of driving mechanism and robot.
Background technique
In the past, as the robot that possesses driving mechanism, be known to possess Jie and by articulation mechanism, made the robots arm's of a plurality of arm bodies links robot.Articulation mechanism as driving mechanism can transmit the rotation of driving source to the arm body that is driven member, thereby arm body is rotated.
Conventionally, having rotated to be of driving source obtains necessary moment of torsion and exports by speed reducer.As everyone knows, speed reducer possesses the gear group who consists of a plurality of gears, and the rotational speed that Jie reduces pto＝power take-off by these gears is exported.
Therefore, at the shell of built-in speed reducer or with speed reducer, the inner space of the common built-in gear-box of other gear is filled with to the oiling agent of the lubricating grease etc. that makes the level and smooth engagements such as gear.
Under the state of inner space sealing during speed reducer continuous running, by the heat by conduction of the engagement from gear or driving source etc., make the temperature of oiling agent increase, also make deteriorated promotion.Because deteriorated promotion directly causes the lost of life, therefore wish to make oiling agent cooling.
For coolant/lubricant, as disclosed in Patent Document 1, the cooling unit of the pipe arrangement etc. of forcing coolant/lubricant can be set.In addition, as cooling unit, such as considering fan etc.
Patent documentation 1: the Unexamined Patent 11-141559 of Japan communique
Summary of the invention
But, take robots arm's driving mechanism as main, there is the situation in the space that there is no to configure the cooling unit as fan.
A form of mode of execution is carried out in view of above-mentioned mode of execution, and its object is, provide a kind of can be simply to form driving mechanism and the robot that carrys out the oiling agent of cooling filling in gear-box.
The driving mechanism that a form of mode of execution relates to possesses: gear-box, take in the transmission of power in self-driven source in future in the gear group of driven member, and be filled with lubricated described gear group's oiling agent, be arranged at the inside of regulation member simultaneously; And lubricant circulates road, be linked to described gear-box, make described lubricant circulates.Described lubricant circulates road has the outside outer loop portion by described regulation member.
According to mode of execution form, can provide and can come cooling filling in driving mechanism and the robot of the oiling agent of gear-box simply to form.
Embodiment
Below, with reference to accompanying drawing, the mode of execution of the disclosed driving mechanism of the application and robot is elaborated.In addition, the present invention is not limited to mode of execution shown below.
First, use Fig. 1 and Fig. 2 to describe possessing the summary of the robot of driving mechanism.Fig. 1 and Fig. 2 represent that respectively an example possesses the pattern diagram of the robot 100,200 of the driving mechanism that mode of execution relates to.
That is, the robot 100,200 that present embodiment relates to possesses following a pair of connecting body, is situated between by as driving mechanism and articulation mechanism described in detail below 1 links mutually to rotate freely.In addition, below a pair of connecting body is described as the main part or the arm body that form robots arm.
Robot 100 shown in Fig. 1 is so-called transfer robots, such as being applicable to carrying TFT LCD or face glass etc.
Robot 100 possesses: the 1st arm body 112, is situated between and is linked by joint portion 101 from the main part 111 being fixed on upright setting the base station 110 of installation surface 300; And the 2nd arm body 113, from the 1st arm body 112, be situated between and linked by joint portion 102.The for example forked hand 114 of mounting panel (not illustrating) therefore, is installed on the top of the 2nd arm body 113.
The joint portion 101,102 of robot 100 has the axis body (not illustrating) all extending in general horizontal direction.Therefore, robot 100 to be to form as follows, and the 1st arm body 112 is situated between by joint portion 101, and the 2nd arm body 113 is situated between by joint portion 102, can larger swing on above-below direction.Articulation mechanism 1(is with reference to Fig. 3) be applicable to such joint portion 101 or joint portion 102.
In addition, the robot shown in Fig. 2 200 is the so-called industrial robot that is called as vertical articulated robot.
Robot 200 possesses the main part 211 that is situated between and is freely arranged to substantially horizontal rotation by joint portion 201 on the base station 210 of installation surface 300 being fixed on.And robot 200 also possesses a plurality of arm bodies 212,213,214 and the connecting rod shank 215,216 that is situated between and is extended by a plurality of joint portion 202～206 from this main part 211.The hand end operation equipment 217 of corresponding operation is installed on the top of connecting rod shank 216 in addition.
The joint portion 201～206 of such robot 200 can be suitable for articulation mechanism 1(with reference to Fig. 3).
For example, joint portion 201 possesses the axis body (not illustrating) extending in substantially vertical direction, and main part 211 is as the connecting body rotation around this axis body.And, for example, if the top that is main part 211 at the 1st connecting body is provided with joint portion 202, possess the axis body (not illustrating) extending in general horizontal direction, around the 2nd connecting body of this axis body, be that arm body 212 rotates.
At this, with reference to Fig. 3～Fig. 4 B, the summary of articulation mechanism 1 is described.Fig. 3 means the summary pattern diagram of articulation mechanism 1.And Fig. 4 A is the schematic diagram of thermal conductor 9, Fig. 4 B is the horizontal cross-sectional schematic of thermal conductor 9.
As shown in Figure 3, articulation mechanism 1 is arranged in opposite directions between the 1st connecting body 11 and the 2nd connecting body 12 rotating, applicable to the robots arm of above-mentioned robot 100,200 etc.
Articulation mechanism 1 possesses the gear-box 4 of case shape, and its built-in and driving source are the speed reducer 3 that motor 2 links.At this, motor 2 is equipped on to the 1st connecting body 11 into an example of regulation member, be situated between and be connected with speed reducer 3 by motor drive shaft 21, this speed reducer 3 is accommodated in the inside of the gear-box 4 arranging on the 2nd connecting body 12 that is also an example of regulation member.Such speed reducer 3 possesses gear group, and this gear group has not shown a plurality of gears.
At with good grounds other of the inner filling of gear-box 4 of taking in such speed reducer 3, need and set other gear group (not shown) and oiling agent 5, this oiling agent 5 is representative for be engaged with each other lubricating grease or the lubricated wet goods of part of lubricated each gear.
By such articulation mechanism 1, can between the 1st connecting body 11 and the 2nd connecting body 12, produce relative movement.That is, thus articulation mechanism 1 by speed reducer 3 by from be arranged at the 1st connecting body 11 motor 2 moving power Minus speed to driven member the 2nd connecting body 12 transmit, its rotational speed with regulation is rotated.
In above-mentioned structure, the articulation mechanism 1 that present embodiment relates to also possesses the lubricant circulates road 7 that oiling agent 5 can be circulated, and this lubricant circulates road 7 is linked to gear-box 4.
As shown in Figure 3, lubricant circulates road 7 is configured to the other end and is connected in the exhaust port arranging on the top of gear-box 4, and tail end is connected in the oiling agent supplying mouth arranging in bottom.Therefore, as shown in arrow f, lubricant circulates road 7 possess recycle pump 8 midway so that oiling agent 5 circulations of filling in gear-box 4.
As shown in the figure, the lubricant circulates road 7 that present embodiment relates to has: the 7b of inner loop portion, by the 1st connecting body 11 or the 2nd connecting body 12(regulation member) inside; And the 7a of outer loop portion, in foreign side's prolongation of the 1st connecting body 11 or the 2nd connecting body 12 (regulation member), surface contacts with outside air.And, the 7b of inner loop portion on lubricant circulates road 7 be provided with recycle pump 8 midway, the 7b of this inner loop portion stipulates the inside of the 2nd connecting body 12 of member by conduct.
And, between the 7b of inner loop portion of articulation mechanism 1 and the internal face 12a of the 2nd connecting body 12, being provided with cooling part 90, this cooling part 90 has thermal conductor 9.Cooling part 90 is constructed as follows, and keeps the pipe arrangement 700(that forms the 7b of inner loop portion with reference to Fig. 4 B on the thermal conductor 9 of internal face 12a that is installed on the 2nd connecting body 12).That is, thus in the inside of the 2nd connecting body 12, by heat, conducting dispels the heat carries out setting under the state of cooling cooling part 90 being connected on lubricant circulates road 7.
Although the thermal conductor 9 that pipe arrangement 700 is installed under the state of internal face 12a that is connected to the 2nd connecting body 12 keeps, to can be conducted and be dispelled the heat by heat, if pipe arrangement 700 and thermal conductor 9 are close to, further improves cooling effect.And, equally also preferably make thermal conductor 9 be close to the internal face 12a of the 2nd connecting body 12.
So, the articulation mechanism 1 relating to according to present embodiment, because at least a portion on lubricant circulates road 7 becomes the 7a of outer loop portion contacting with outside air, although be therefore simple formation, coolant/lubricant 5 effectively.Therefore, though by speed reducer 3, other gear group gear engagement or from the heat by conduction of motor 2 etc., make the temperature of oiling agent 5 increase, thereby also can be used as radiation heat, during circulating lubrication agent 5, to outside air heat radiation, carry out cooling.
Moreover, thereby the articulation mechanism 1 relating to due to present embodiment possesses and is connected to the 7b of inner loop portion and by heat, conducts to dispel the heat and carry out cooling cooling part 90, therefore can further improve cooling effect.
As shown in Fig. 4 A and Fig. 4 B, for example tabular formation with predetermined thickness by the high material of pyroconductivity of the thermal conductor 9 that forms cooling part 90.Therefore, on a side of thermal conductor 9, form slot part 91, the face that another side is installed as the internal face 12a to the 2nd connecting body 12.On the slot part 91 of such thermal conductor 9, embed the pipe arrangement 700 that forms lubricant circulates road 7, therefore can keep pipe arrangement 700.
The section configuration of slot part 91 forms the semicircle shape in the footpath unidimensional or slightly little with the diameter of pipe arrangement 700.Therefore, slot part 91 can remain on the state of being close to by the pipe arrangement 700 that forms lubricant circulates road 7, owing to can making as much as possible the area of contact of pipe arrangement 700 become large, therefore can improve the radiating effect being undertaken by heat transfer simultaneously.
And, owing to the thermal conductor 9 with such slot part 91 being installed on to the internal face 12a of the 2nd connecting body 12, therefore the 7b of inner loop portion of the inside by the 2nd connecting body 12 can kept in simple location.Therefore, during by the thering is flexible hose and form of the synthetic resin of polyurethane etc., can make pipe arrangement 700 wriggle and pass through by desirable posture in the inside of the 2nd connecting body 12 pipe arrangement 700.In addition, in Fig. 3, although thermal conductor 9 is independent individualities, by a plurality of thermal conductors 9 are suitably set, can further improve cooling effect, also can improve the degrees of freedom of the layout of pipe arrangement 700 simultaneously.
Moreover in the articulation mechanism 1 relating in present embodiment, the heat transfer cream 92 that coating is for example sold on the market on pipe arrangement 700, is contacted with the internal face 12a of the 2nd connecting body 12 by coated portion is divided, to form a part for cooling part 90.In addition, also heat transfer cream 92 can be coated in to the pipe arrangement part that is embedded in slot part 91.
But as shown in Figure 3, the articulation mechanism 1 that present embodiment relates to possesses the sensor of the rheological parameters' change with time that detects oiling agent 5.That is, as mentioned above, although oiling agent 5 circulation in carry out cooling, all can increase the weight of in any case through time deteriorated.
At this, using the sensor that detects rheological parameters' change with time as the photoreceptor 6 that detects the change in color of oiling agent 5.Conventionally oiling agent 5 is yellow or malt sugar look, when deteriorated, and blackening gradually.Therefore, at least a portion that forms the pipe arrangement 700 on lubricant circulates road 7 forms transparent region, with such transparent region, photoreceptor 6 is set in opposite directions.
In the present embodiment, the flexible pipe by the pipe arrangement 700 on formation lubricant circulates road 7 by transparent polyurethane resin forms, and the downstream side of while at the recycle pump 8 of the inside of the 2nd connecting body 12 is provided with photoreceptor 6.
Photoreceptor 6 for example can use the sensor of the known configurations that possesses luminescence part and light-receiving part, can detect the variation along with the light transmittance of the variable color of oiling agent 5.If common oiling agent can judge that along with the reduction of light transmittance lubrication reduces.
Such photoreceptor 6 be for example situated between by the control gear of not shown regulation also can be in advance with not shown monitor unit or carry out the indication device that various alarms represent and be connected.
Control gear possesses such as having the control device of CPU etc. and the memory section of ROM or RAM etc., stores and associated chart that the degradation of oiling agent 5 and printing opacity degree are quantized in memory section.So control device compares the testing result of photoreceptor 6 and chart, when being judged as the result of the threshold values that surpasses regulation, on indication device, represent as follows, represent the replacing period of oiling agent 5 or the alarm of urgency replacing oiling agent 5 etc.In addition, when using the oiling agent 5 of a plurality of kinds, the chart that is stored in advance storage device also must be distinguished the kind of corresponding oiling agent 5.
In addition, due to along with deteriorated the carrying out of oiling agent 5, from the amount of the metal powder of the generations such as gear etc., also increase, therefore, from the irregular reference degree of the light of photoreceptor 6, the diffusion of light also changes.So adopting is not the change in color that detects oiling agent 5, but the photoreceptor 6 of the variation of the diffusion of detection light, thereby based on its testing result, also can judge the deteriorated of oiling agent 5.And, thereby also can detect variation judgement oiling agent 5 deteriorated of the change in color of oiling agent 5 and the diffusion of light simultaneously.
In addition, the moment of carrying out sensing detection by photoreceptor 6 can carry out suitably setting as follows in advance, for example, carry out one day 1 time or per stipulated time 1 inferior.Therefore,, for such moment, also can come according to order and automatically implement by control gear.In addition, even if the stained degree of oiling agent 5 can be considered also to exist in lubricant circulates road 7 uneven.Therefore, the sensing detection time of at every turn implementing by photoreceptor 6, no matter be continuously, or interrupted, preferred scheduled time length all.
At this, with reference to Fig. 5 and Fig. 6, the more specifically formation of articulation mechanism 1 is described simultaneously.Fig. 5 means the schematic diagram of the concrete example of the robot that possesses articulation mechanism 1, and Fig. 6 is the local fracture schematic diagram that specifically represents articulation mechanism 1.In addition, in the articulation mechanism 1 shown in Fig. 6, the constituting component identical with the constituting component shown in Fig. 3 represent with identical symbol, as long as have no special requirements, and detailed.
Robot 150 shown in Fig. 5 is configured to the transfer robot identical with the robot 100 shown in Fig. 1, TFT LCD that can carrying large.
As shown in the figure, robot 150 possesses: the rotating platform 152 of L word shape roughly, and rotation is installed on base station 151 freely; And the 1st arm the 154, the 2nd arm 155, horizontal arm 156, rotate successively freely and link from the upper end of this rotating platform 152.The 1st arm 154 is situated between and by the 1st joint portion 161, is rotated the upper end of the pillar part 153 that is installed on freely rotating platform 152, and the 2nd arm 155 is situated between and rotates by the 2nd joint portion 162 top that is installed on freely the 1st arm 154.Therefore, these the 1st arms 154 and the 2nd arm 155 can be with liftings shown in arrow 700.
And horizontal arm 156 is situated between and rotates by the 3rd joint portion 163 top that is installed on freely the 2nd arm 155.And, on such horizontal arm 156, be provided with as shown in arrow 600, respectively towards substantially horizontal upside hand free to advance or retreat 157 and downside hand 158, this upside hand 157 with downside hand 158 with forked formation, by workpiece 500 mountings of large-scale TFT LCD etc. freely.
Such robot 150 can be in wide scope the large-scale workpiece 500 of mobile carrying large TFT LCD etc.Therefore, the load of articulation mechanism 1 is also become greatly, follow the temperature of oiling agent 5 of the inside of articulation mechanism 1 also significantly to rise.Therefore the articulation mechanism 1 that, present embodiment relates to is applicable to for example the 1st, the 2nd, the 3rd joint portion 161,162,163 of such robot 150.
As shown in Figure 6, articulation mechanism 1 is arranged at a pair of connecting body in relative rotation, between the 1st connecting body 11 and the 2nd connecting body 12.In addition, at this, the 1st arm 154, the 2 connecting bodys 12 that the 1st connecting body 11 is for example equivalent to the robot 150 shown in Fig. 5 are for example equivalent to the pillar part 153 of the robot 150 shown in Fig. 5.And articulation mechanism 1 is not only applicable to robot 150, and be applicable to robots arm of aforesaid robot 100,200 etc.
In the robot 100 shown in Fig. 1, the 1st connecting body 11 is for example for forming the connecting body of its main part 111.And the 2nd connecting body 12 is for example for forming the connecting body of the 1st arm body 112.Therefore, as shown in Figure 6, articulation mechanism 1 is arranged at the joint portion 101(of link the 1st connecting body 11 and the 2nd connecting body 12 with reference to Fig. 1).
As shown in the figure, lubricant circulates road 7, using the top of the face of the motor of the gear-box of taking in the inside of the 2nd connecting body 12 42 sides as top, goes out to motor 2 laybacks of taking in the inside of the 1st connecting body 11.Therefore, pull out to device the motor container 25 of the 1st connecting body 11 forming from being sealed by motor cover 16, walks around joint portion 101 and extend, from the sidewall 12b of the 2nd connecting body 12 to inner break-through.
In lubricant circulates road 7, the outer part extending of device be the 7a of outer loop portion as shown in the figure, be equipped in protection flexible pipe 70 and the flexible pipe 71 that leads.Protection flexible pipe 70 is accommodated after various cables etc. are tied up in inside, is situated between and by repeater box 72, is extended to the position of regulation.Guiding flexible pipe 71 is connected to the sidewall 12b of the 2nd connecting body 12 from repeater box 72.In addition, thus repeater box 72 is situated between and by bracket 73, is supported the sidewall 12b of the 2nd connecting bodys 12.
Lubricant circulates road 7 is in repeater box 72 bendings, by extending to the inside of the 2nd connecting body 12 from the sidewall 12b of the 2nd connecting body 12 in guiding flexible pipe 71.
In lubricant circulates road 7, the 7b of inner loop portion of the inside that is positioned at the 1st connecting body 11 or the 2nd connecting body 12 in device as shown in the figure, in inner space bending and the crosscut of the 2nd connecting body 12, is connected in recycle pump 8 when keeping by thermal conductor 9 is temporary transient.In addition, although thermal conductor 9 is installed on respectively the 2nd connecting body 12 inwall in opposite directions with recycle pump 8 at this, can suitably select installation position.
The terminal of the 7b of inner loop portion on the lubricant circulates road 7 of deriving from recycle pump 8 be connected in gear-box 4 below.So, thus the oiling agent 5 of filling in the inside of gear-box 4 circulates by lubricant circulates road 7.
Therefore, inside at gear-box 4, even make the temperature of oiling agent 5 increase by the gear group's of speed reducer 3 grades gear engagement or from the heat by conduction of motor 2 etc., during circulating lubrication agent 5, thereby externally circulation portions 7a also carries out cooling as radiation heat to outside air heat radiation.
Moreover, even if the oiling agent 5 that temperature rises is in the 7b of inner loop portion, thereby be also situated between, by the cooling part 90 with the thermal conductor 9 of the internal face 12a that is close to the 2nd connecting body 12, by heat conducting and radiating, undertaken cooling.
So, the articulation mechanism 1 that present embodiment relates to is for very simply forming, simultaneously effectively cooling filling in the oiling agent 5 of gear-box 4.
But the pipe arrangement 700(on the lubricant circulates road 7 that present embodiment relates to is with reference to Fig. 4 A, 4B), as previously mentioned, be the flexible pipe of transparent polyurethane resin.Therefore, as shown in Figure 6, in lubricant circulates road 7, photoreceptor 6 sets in the mode of the 7b of inner loop portion towards deriving from recycle pump 8.In addition, the pipe arrangement 700 on the signaling line of photoreceptor 6 etc. and lubricant circulates road 7 is in the same manner by guiding flexible pipe 71 and derive outside device.
But the equipping position of photoreceptor 6 not necessarily needs to be equipped on the component inside of the 2nd connecting body 12 or the 1st connecting body 11 etc.For example, as shown in Figure 7, also can to outside circulation portions 7a, set at member exterior face.At this, Fig. 7 means the local fracture schematic diagram of the variation of driving mechanism.
As shown in Figure 7, in the driving mechanism relating in variation, on the sidewall 12b of the 2nd connecting body 12, form pipe arrangement fairlead 12c, 12c, thereby the pipe arrangement of the downside of thermal conductor 9 700 is pulled out to the outside of the 2nd connecting body 12 and formed detected portion with U-shaped roughly.Therefore, the mode with the pipe arrangement 700 of the detected portion towards pulling out to the outside of the 2nd connecting body 12, sets photoreceptor 6.The pipe arrangement 700 of pulling out to outside forms the 7a of outer loop portion on lubricant circulates road 7, and photoreceptor 6 can set towards the 7a of outer loop portion thus.So, if only by lubricant circulates road 7(pipe arrangement 700) thus to outside, pull out formation detected portion, by visual, also can confirm the deteriorated of oiling agent 5.
The kind of the robot that driving mechanism that in addition, present embodiment relates to is applicable or formation etc. are not limited to above-mentioned robot 100,150,200.For a plurality of arm bodies are situated between by articulation mechanism 1(driving mechanism) robot that links.
And as shown in Figure 8, driving mechanism also goes for being provided with the robot 400 of robot body 430 on Jie's moving body 420 straight moving by running shaft 410.Fig. 8 means that an example possesses the pattern diagram of the robot of the driving mechanism that other mode of executions relate to.
That is, the driving mechanism that possesses lubricant circulates road 7 is utilized as straight-moving mechanism 10, as shown in the figure, robot 400 can directly enter in installation surface 300.
As shown in the figure, the running shaft 410 of robot 400 is configured to, and possesses and on the cross direction of moving body 420, separates a pair of linear rail 411,411 and the tooth bar 412 that predetermined distance arranges.
Such robot 400 possesses the speed reducer 30 transmitting to moving body 420 power of the driving source from such as motor 20 grades as propelling force.Therefore, thus at the output shaft 31 of speed reducer 30, arrange with the small gear 413 of tooth bar 412 engagements and form straight-moving mechanisms 10.
Speed reducer 30 is accommodated not shown gear group and lubricated this gear group's oiling agent.That is, the shell of speed reducer 30 is equivalent to above-mentioned gear-box 4, is situated between and connects lubricant circulates road 7 by recycle pump 8 on the shell of such speed reducer 30.
So, even if possess the robot 400 as the straight-moving mechanism 10 of driving mechanism, the temperature that also can effectively suppress simply to form the oiling agent 5 of filling in speed reducer 30 rises.
But, at this, although photoreceptor 6 is configured under the state outside being exposed to device, form separately such as the housing of accommodating speed reducer 30 or motor 20 etc., also can be arranged in such housing.And, as the robot 400 directly entering, even if moving body 420 forms with robot body 430 one, or form also and be all fine by split.
Above, although driving mechanism and robot are illustrated by above-mentioned mode of execution, those skilled in the art can easily derive more effect or variation.Therefore, form widely of the present invention is not limited to above represented and the specific detailed and representational mode of execution described.Thereby, in the situation that do not depart from by the claims that attach with and the spirit or scope of the inventive concept of the defined blanket property of equipollent, can carry out various changes.
Accompanying drawing explanation
Fig. 1 means that an example possesses the pattern diagram as the robot of the articulation mechanism of driving mechanism.
Fig. 2 means that an example possesses the pattern diagram as the robot of the articulation mechanism of driving mechanism.
Fig. 3 means the summary pattern diagram of articulation mechanism.
Fig. 4 A is the schematic diagram of thermal conductor.
Fig. 4 B is the schematic diagram of laterally analysing and observe of the same thermal conductor.
Fig. 5 means the schematic diagram of the concrete example of the robot that possesses articulation mechanism.
Fig. 6 is the concrete local fracture schematic diagram that represents to possess the same articulation mechanism.
Fig. 7 means the local fracture schematic diagram of the variation of the same articulation mechanism.
Fig. 8 means that an example possesses the pattern diagram as the robot of the straight-moving mechanism of driving mechanism.
Symbol description
1-articulation mechanism (driving mechanism); 2-motor (driving source); 3-speed reducer; 4-gear-box; 5-oiling agent; 6-photoreceptor; 7-lubricant circulates road; 7a-outer loop portion; 7b-inner loop portion; 9-thermal conductor; 10-straight-moving mechanism (driving mechanism); 90-cooling part; 91-slot part; 100-robot; 200-robot.
Claims (7)
1. a driving mechanism, is characterized by,
Possess: gear-box, take in the transmission of power in self-driven source in future in the gear group of driven member, be filled with lubricated described gear group's oiling agent, be arranged at the inside of regulation member simultaneously;
Lubricant circulates road, is linked to described gear-box, makes described lubricant circulates,
Described lubricant circulates road has the outside outer loop portion by described regulation member.
2. driving mechanism according to claim 1, is characterized by,
Described lubricant circulates road also possesses by the inner loop portion of the inside of described regulation member, and outside air be to be provided with the cooling part with thermal conductor between non-contacting described inner loop portion and the inner face of described regulation member.
3. driving mechanism according to claim 2, is characterized by,
Described thermal conductor has the slot part of the described inner loop of maintenance portion.
4. according to the driving mechanism described in claim 1～3 any 1, it is characterized by,
The sensor that possesses the rheological parameters' change with time that detects described oiling agent.
5. driving mechanism according to claim 4, is characterized by,
Described sensor is the photoreceptor of the change in color of the described oiling agent of detection,
At least a portion that forms the pipe arrangement on described lubricant circulates road forms transparent region, and described photoreceptor and described transparent region arrange in opposite directions.
6.Yi Zhong robot, is characterized by,
Possess: the driving mechanism in claim 1～5 described in any 1;
And a pair of connecting body, be situated between and linked mutually to rotate freely by described driving mechanism.
7.Yi Zhong robot, is characterized by,
Possess: the driving mechanism in claim 1～5 described in any 1;
And moving body, by described driving mechanism, move.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2013-057116 | 2013-03-19 | ||
| JP2013057116A JP2014181767A (en) | 2013-03-19 | 2013-03-19 | Driving mechanism and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104061318A true CN104061318A (en) | 2014-09-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410016536.2A Pending CN104061318A (en) | 2013-03-19 | 2014-01-14 | Driving mechanism and robot |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2014181767A (en) |
| KR (1) | KR20140114790A (en) |
| CN (1) | CN104061318A (en) |
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| CN105798949A (en) * | 2016-06-02 | 2016-07-27 | 安徽声讯信息技术有限公司 | Robot self-maintaining and self-overhauling system |
| CN106976066A (en) * | 2016-01-19 | 2017-07-25 | 精工爱普生株式会社 | Robot and robot system |
| CN108284428A (en) * | 2018-01-15 | 2018-07-17 | 孙助奎 | A kind of novel foodstuff transfer robot |
| CN109807926A (en) * | 2017-11-21 | 2019-05-28 | 沈阳新松机器人自动化股份有限公司 | A kind of passive pendulum lubrication self-cleaning mechanism |
| CN110168253A (en) * | 2017-03-14 | 2019-08-23 | 株式会社小松制作所 | Hydraulic circuit |
| CN110815209A (en) * | 2018-08-09 | 2020-02-21 | 发那科株式会社 | Control device, grease cooling method, and management device |
| CN111113485A (en) * | 2018-10-31 | 2020-05-08 | 日本电产三协株式会社 | Industrial robot |
| CN112894872A (en) * | 2019-12-03 | 2021-06-04 | 发那科株式会社 | Joint structure of industrial robot |
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| JP7506501B2 (en) * | 2020-03-23 | 2024-06-26 | 川崎重工業株式会社 | Cooling device, robot, and method for attaching cooling device to robot |
| JP2021146481A (en) * | 2020-03-23 | 2021-09-27 | 川崎重工業株式会社 | Robot and method for attaching cooling device to robot |
| JP2021146480A (en) * | 2020-03-23 | 2021-09-27 | 川崎重工業株式会社 | Cooling device, robot, and method for attaching cooling device to robot |
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| CN105798949A (en) * | 2016-06-02 | 2016-07-27 | 安徽声讯信息技术有限公司 | Robot self-maintaining and self-overhauling system |
| CN110168253A (en) * | 2017-03-14 | 2019-08-23 | 株式会社小松制作所 | Hydraulic circuit |
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| CN108284428A (en) * | 2018-01-15 | 2018-07-17 | 孙助奎 | A kind of novel foodstuff transfer robot |
| CN110815209A (en) * | 2018-08-09 | 2020-02-21 | 发那科株式会社 | Control device, grease cooling method, and management device |
| CN111113485A (en) * | 2018-10-31 | 2020-05-08 | 日本电产三协株式会社 | Industrial robot |
| CN112894872A (en) * | 2019-12-03 | 2021-06-04 | 发那科株式会社 | Joint structure of industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2014181767A (en) | 2014-09-29 |
| KR20140114790A (en) | 2014-09-29 |
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