CN104589352A - Robot and manufacturing method for robot - Google Patents
Robot and manufacturing method for robot Download PDFInfo
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- CN104589352A CN104589352A CN201410455567.8A CN201410455567A CN104589352A CN 104589352 A CN104589352 A CN 104589352A CN 201410455567 A CN201410455567 A CN 201410455567A CN 104589352 A CN104589352 A CN 104589352A
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Abstract
The invention provides a heat radiation construction targeted at motor heating with diving of a motor, and realizes a robot which is miniature and with a wrist part relatively easy to manufacture. The robot is characterized in having a basal body, a multi-joint arm, a wrist part (80) connected to a third telescoping rotating shaft (95) of the multi-joint arm and an arm part (81) connected to the wrist part (80) in a rotary mode and provided with a tail end executor. The wrist part (80) has a rotor (178), a rotor shaft (180) and a stator (182) motor and a motor accommodating recessed part (170). The motor accommodating recessed part (170) positions and accommodates a motor and holds that a groove portion (177) for heat radiating and recessed towards the outer side forms in the sidewall of the motor accommodating recessed part (170) of the motor in a positioning state. Furthermore, heat radiating materials relatively high in heat permeability are filled and cured between the groove portion (177) for heat radiating and the stator (182) of the motor.
Description
Technical field
The present invention relates to robot, especially relate to and there is the robot of multiple joint manipulator and the manufacture method of this robot.
Background technology
In the past, in the operations such as the assembling procedure of the industrial products in the manufacture scenes such as factory or welding sequence, in order to automation, Labor-saving and the industrial robot of more use.And in recent years, complicated along with for the flow chart corresponding with the miniaturization of industrial products, multifunction, the machine human needs with the multijoint control of multiple joint manipulator increases gradually, and this multiple joint manipulator is the multiple joint manipulator that the arm parts of the connecting rod, joint etc. of volume are combined in the mode can rotated by driving shaft (rotating shaft).Such as in patent document 1, disclose the robot having linked 6 axle multiple joint manipulators in the left and right sides of matrix (main body).In this 6 axle multiple joint manipulators, in order to realize the action identical with the action of the wrist of people, such as, be made up of shoulder, upper wrist, front wrist, wrist portion.In the front of connecting rod of wrist portion becoming this multiple joint manipulator, the end effectors such as the robot hand of the operation performing the regulation that robot carries out are installed.
In addition, in recent years, in order to make the action of multiple joint manipulator further close to the action of the wrist of people, added the joint for carrying out twisting action at upper wrist, also exploitation has the multiple joint manipulator that 7 axles of the arm alternately having linked and carried out twisting action and the arm carrying out expanding-contracting action are formed.
Like this, will by industrial robot by carried out with staff in the past operation automation time, in order to import to existing production line, requirement is the robot with people's formed objects, namely requires miniaturization.Have in the robot of the multiple joint manipulator that 6 axles as described above are formed or 7 axles are formed, realize at the same time being made by the driving of multi-joint (multiaxis) arm the free degree of the movement of end effector increase and miniaturized aspect, rotatably connect in the multiple joint manipulator of robot and drive adjacent connecting rod ball and socket structure each other to become leading factor.In addition, the connecting rod of the wrist portion linked as the Telescopic rotating axle with the most end side being provided with end effector in multiple joint manipulator, that is, main points are become as the densification that can link the wrist part of the connecting rod of the hand having installed end effector around the mode reversing rotating shaft rotation.
At wrist part, at least group has entered the driving factor of the motor comprising rotor, armature spindle, stator and shell that hand is rotated around torsion rotating shaft etc.As obtaining the formation realizing the robot of the enlightenment of the densification of this wrist part, such as, disclose at patent document 2 and the parts of the profile forming arm parts (being wrist part) have here been used as the robot of shell.
Patent document 1: Japanese Unexamined Patent Publication 2010-167215 publication
Patent document 2: Japanese Laid-Open Patent Publication 62-241689 publication
Summary of the invention
But, in the wrist part (arm parts) described in patent document 2, owing to motor to be located and the shell kept itself becomes the profile of wrist part, so the heat produced because of the driving of motor is directly passed to wrist part, thus likely cause mechanical breakdown because of heat.
In addition, when being configured to the driving factor beyond the motors such as position (rotation) detector (encoder) that wrist part possesses and also configuring in the enclosure, the heat that there is motor likely causes the misoperation of position detector, thus produces the driving of robot and bad affect this technical problem.
The present invention, just in order to solve completing at least partially of above-mentioned technical problem, can realize as following mode or application examples.
Application examples 1
Should the feature of manufacture method of robot involved by use-case be, this robot has: matrix, be arranged at above-mentioned matrix multiple joint manipulator, be linked to above-mentioned multiple joint manipulator wrist part, be rotatably linked to above-mentioned wrist part and the hand of end effector be installed, above-mentioned wrist part possesses: motor, and it comprises rotor, armature spindle and stator; And shell, it has locates and the motor accommodating recess of accommodating above-mentioned motor, and form the profile of above-mentioned wrist part, the manufacture method of this robot comprises: shell manufacturing procedure, forms the heat transmission groove portion that the motor assembling recess comprising the location division of said stator, the screw of screw of the said stator fixedly being assembled into above-mentioned motor assembling recess and the sidewall of assembling recess from above-mentioned motor cave in the outside of above-mentioned shell in this shell manufacturing procedure; Stator assembling procedure, in this stator assembling procedure after said stator is located by the above-mentioned location division of above-mentioned motor assembling recess, fixes said stator by above-mentioned screw; Thermal component injection process, will have mobility under normal conditions in this thermal component injection process and the high thermal component of heat transmitting injects gap between said stator and above-mentioned heat transmission groove portion; And thermal component curing process, in this thermal component curing process, above-mentioned thermal component is solidified.
According to should use-case, by using the easy operation of the comparison of known machining etc., the motor of locating storage is in the enclosure accommodated in further compared with the formation of the parts of the profile forming wrist part with in the past such, more miniaturized wrist part can be manufactured.
And, should in use-case, by the heat spreader that thermal component can make the driving because of motor produce, therefore compared with the situation being directly passed to wrist part with heat, the heating of wrist part can be suppressed, thus the mechanical breakdown produced because of the heat of the driving factor relative to the wrist part be configured in shell can be reduced.Such as, when being configured to the driving factor beyond the motors such as position (rotation) detector (encoder) that wrist part possesses and being also configured in shell, the malfunction of the driving factor such as the position detector produced due to the heat because of motor can be suppressed and the driving malfunction of the robot caused.
Therefore, it is possible to provide the small-sized light-duty robot that can perform various and meticulous operation accurately.
Application examples 2
The manufacture method of the robot described in above-mentioned application examples preferably uses metal paste as above-mentioned thermal component.
Such as, silver paste heat conductivity is higher, therefore, it is possible to improve radiating effect, and silver paste is widely used material in the past, therefore carries out applying etc. operability by knockout superior thus easily manufacture, thus is preferably heat sink material.
Application examples 3
Should the feature of robot described in use-case be, this robot: the wrist part of a part for matrix, the multiple joint manipulator being arranged at above-mentioned matrix and formation multiple joint manipulator, above-mentioned wrist part possesses: motor, and it comprises rotor, armature spindle and stator; And shell, it has and positions and the motor accommodating recess of accommodating above-mentioned motor, and form the profile of above-mentioned wrist part, above-mentioned shell forms the motor assembling recess comprising the location division of said stator, the heat transmission groove portion of assembling the hole portion of the said stator of recess and the sidewall heat radiation at above-mentioned motor assembling recess for being fixedly assembled into above-mentioned motor, is filled with heat sink material in above-mentioned heat transmission groove portion.
According to should use-case, with the motor of locating storage was in the enclosure accommodated in further compared with the formation of the parts of the profile forming wrist part as in the past, more miniaturized wrist part can be manufactured, and the heat spreader that the driving because of motor can be produced by thermal component, therefore, it is possible to suppress the heating of wrist part, thus the mechanical breakdown produced because of the heat of the driving factor relative to the wrist part be configured in shell can be reduced.
Therefore, it is possible to provide the small-sized light-duty robot that can perform various and meticulous operation accurately.
Application examples 4
The preferred above-mentioned thermal component of robot described in above-mentioned application examples is filled metal paste and makes it to be solidified to form.
According to should use-case, silver paste heat conductivity be higher, therefore, it is possible to make radiating effect better, and, be the material in the past used widely, therefore operability is superior, thus can provide the small-sized light-duty robot that can perform various and meticulous operation accurately.
Application examples 5
The feature of the robot described in above-mentioned application examples is, above-mentioned matrix is provided with multiple above-mentioned multiple joint manipulator.
According to should use-case, possess shown by multiple above-mentioned application examples, have and guarantee movable area significantly, suppress singular point and make the small-sized light-duty multiple joint manipulator of the structure of the heat radiation of the heat produced because of the driving of motor, therefore, it is possible to provide the small-sized robot that can carry out various and meticulous operation accurately.
Accompanying drawing explanation
Fig. 1 is the stereogram of the concise and to the point formation of the robot schematically shown involved by embodiment 1.
Fig. 2 is the partial sectional view of the frontal construction of the actuator of an example of the joint driving mechanism of the robot schematically shown as embodiment 1.
Fig. 3 is the stereogram of the structure of the driving transfer part of the robot schematically showing embodiment 1.
Fig. 4 is the partial sectional view of the structure of the joint driving mechanism of the wrist part involved by robot schematically showing embodiment 1.
Fig. 5 is the partial sectional view of the sections different from Fig. 4 of the structure of the joint driving mechanism of the wrist part involved by robot schematically showing embodiment 1.
The shell of the wrist part of embodiment 1 cuts open as roughly half and schematically show the three-dimensional cutaway view of inner shape by Fig. 6.
Fig. 7 is the flow chart of the manufacture method of the robot representing embodiment 1.
Fig. 8 is the key diagram of the robot schematically shown involved by embodiment 2.
Detailed description of the invention
Embodiment 1
Below, be described with reference to the brief configuration of accompanying drawing to the robot of present embodiment 1.Wherein, in order to make illustrated part become discernible state, be that locality zooms in or out display by used accompanying drawing.
Fig. 1 is the stereogram of the brief configuration of the robot schematically showing present embodiment 1.In addition, " rotation " of embodiment refer to rotate forward and reversion.
Robot 10 shown in Fig. 1 is the six axle vertical-type articulated robots with six basic driving shafts that is rotating shaft, and be configured to apish wrist structure and in short transverse (Z axis), multiple connecting rod as wrist part (wrist tree) is connected in the mode of connecting by multiple conjunction as wrist part (joint, joint), therefore, it is possible to complicated operation is carried out on free degree highland.
Robot 10 has: as the basal part 70 of matrix and main part 71, control part 72, have as the conjunction 73 of arm parts, connecting rod 74, conjunction 75, connecting rod 76, conjunction 77, connecting rod 78, conjunction 79, wrist part (connecting rod) 80 and the hand (connecting rod) 81 being provided with end effector (not shown) and the multiple joint manipulator that rotatably links each other by articulation mechanism of adjacent connecting rod and/or conjunction.
Basal part 70 is pedestals of robot 10, and is firmly fixed on the plane such as floor, operation post of the working space in factory by multiple bolt (screw).In addition, fixed-site is not limited to horizontal plane (comprising the face of X-axis and Y-axis), as long as have the weight that can bear robot 310 and can the intensity of vibration resistance, also can be can on the chassis of movement, wall, ceiling or the aftermentioned arm linking part etc. being arranged at robot cell like that.
Although not shown but at control part 72 except being provided with the guidance panel for operating robot 10, be also provided with the Interface Terminal such as RS232C, USB (Universal Serial Bus) for input action program.Or, also can be configured to possess WLAN (the Local Area Network) interface arrangement such as terminal, infrared ray transceiving signalling means.
In addition, control part 72 also can be arranged with robot body independently.
Main part 71 is configured with conjunction 73, connecting rod 74 by the setting of conjunction 73, connecting rod 74.
First, for multiple joint manipulator structure (from arm to hand) of conjunction 73 to the wrist part 80 from robot 10, rotate to horizontal direction centered by the first rotating shaft 91 running through main part 71 along Z-direction.That is, conjunction 73 relative to main part 71 carry out around first axial rotary torsional direction rotate twisting action.
In addition, the hand 81 being provided with end effector is one end (end) of multiple joint manipulator structure, and the conjunction 73 being installed on main part 71 (basal part 70 side) is equivalent to the other end (root) of mechanical arm structure.In addition, in the following description, use and the side of the hand 81 near mechanical arm structure is called " end side ", the side near basal part 70 is called the expression of " root side ".
In addition, be provided with for carrying out the motor of rotary actuation to mechanical arm structure and comprise the decelerator structure etc. of multiple gear at main part 71.In addition, near the following each rotating shaft be described, be also provided with the motor and reducing gear etc. for driving above-mentioned connecting rod, end effector.
Conjunction 75 is had in the end side combination of the connecting rod 74 configured in the mode extended to the end side of conjunction 73.Conjunction 75 be driven into by the Telescopic rotating axle roughly orthogonal with the first rotating shaft 91 and be run through connecting rod 74 along X-direction the first Telescopic rotating axle 92 centered by rotate.First Telescopic rotating axle 92 is positioned at the end side of connecting rod 74.Herein, " roughly orthogonal " is defined as except completely orthogonal structure, is also included in the structure of intersecting in the scope within 10 °.
In addition, in the multiple joint manipulator of present embodiment, by with the almost parallel Telescopic rotating axle of the first Telescopic rotating axle 92 from main body side called after the first ~ the n-th Telescopic rotating axle successively in order.Herein, " almost parallel " is defined as except completely parallel structure, is also included in the formation that the scope within 10 ° is intersected.
In addition, if robot motion, then the bearing of trend of rotating shaft changes (such as, rotating the situation of (torsion) centered by the first rotating shaft 91), is therefore described premised on the state being arranged at original state shown in Fig. 1.
Connecting rod 76 configures in the mode extended to the end side of conjunction 75.
There is conjunction 77 in the end side combination of connecting rod 76, and be assembled with connecting rod 78 at the end side of this conjunction 77.Connecting rod 78 configures in the mode extended to the end side of conjunction 77.The conjunction 77 assembling connecting rod 78 is driven centered by the second Telescopic rotating axle 393 running through the end side of connecting rod 76 along X-direction.
And, have in the end side combination of connecting rod 78 conjunction 79 being provided with and driving transfer part 50 and Sub-assembly Dept 60.Conjunction 79 is driven centered by the torsion rotating shaft 94 for the end side to run through connecting rod 78 along Y direction, conjunction 79 is rotated to torsional direction relative to connecting rod 78.
In addition, have wrist part 80 in the end side combination of conjunction 79, this wrist part 80 is driven to run through the 3rd Telescopic rotating Zhou95Wei center of the end side of conjunction 79 along X-direction.
Hand 81 is configured with in the mode extended along this wrist part 80 at the end side of wrist part 80.Hand 81 is driven for making the end side of wrist part 80 from wrist part 80 towards the Y direction of the bearing of trend along hand 81, namely, centered by the torsion rotating shaft 396 running through the approximate centre of cylindrical hand 81, hand 81 rotates to torsional direction relative to wrist part 80.
As described above, the end effector (not shown) of the mechanism as the operation performing the regulation that robot 10 carries out is had in the end side combination of multiple joint manipulator.End effector can make parts in various manners according to the purposes of robot 10.Such as, being installed on the end side of hand 81 by the handle sturcture of the robot hand by holding the parts etc. manufacturing thing etc., the instrument that carries out the such processing of soldering, welding, can using as the robot 10 implementing various operation.
Next, for in the joint driving mechanism of the multiple joint manipulator of the robot 10 of above-mentioned formation, by the adjacent wrist part (connecting rod, conjunction) except wrist part 80 and the joint driving mechanism of hand 81 each other being described by the example of joint driving mechanism that links of rotating manner.
First, the joint driving mechanism with reference to the Telescopic rotating axle of accompanying drawing pair and the least significant end of multiple joint manipulator that is the different rotating shaft (joint) of the 3rd Telescopic rotating axle 95 is described.Fig. 2 is the partial sectional view of the frontal construction of the actuator 2 schematically shown as joint driving mechanism.In addition, in fig. 2, at each joint portion of multiple joint manipulator, the wrist part (connecting rod or conjunction) of root side is called basic point connecting rod 110, the wrist part of the end side rotated relative to this basic point connecting rod 110 is described as pivot link 112.
In fig. 2, actuator 2 overlaps 26 by motor 22, decelerator 24, reducer output shaft, reducer output shaft 30 and the electric motor stand 33 at least with motor 22 form as the power transmission shaft 34 of a part.
Motor 22 possesses rotor 38, armature spindle 40, stator 43 and electric motor stand 33.The armature spindle 40 of motor 22 is connected with the inside of decelerator 24 at the power shaft of decelerator 24.Stator 43 and electric motor stand 33 is provided with in the periphery of rotor 38.The revolving force of armature spindle 40 is transmitted to decelerator 24, and decelerator 24 exports the moment of torsion that the moment of torsion of this revolving force is increased and exports.
The frame 36 of decelerator 24 is connected with the electric motor stand 33 (or power transmission shaft 34) of motor 22.Decelerator 24 makes to slow down from the rotation of motor 22, the moment of torsion of rotation is exported and increases and export.Decelerator 24 is the built-in gear mechanism (omitting diagram) that the rotation of power shaft is slowed down and the oscillating bearing mechanism (omitting diagram) of supporting reducer output shaft 30 in inside.The gear mechanism of decelerator 24 can use fluctuation gear, also can use other decelerator structures.
Reducer output shaft cover 26 is connected with reducer output shaft 30, and is configured at the periphery of decelerator 24 or power transmission shaft 34.Reducer output shaft cover 26 prevents pipeline 28 from contacting with decelerator 24.Herein, pipeline 28 is at least one party of wiring and pipe arrangement.In addition, gas pipe arrangement and the liquid pipe arrangement etc. carrying liquid of pipeline general name power line (electric wire), holding wire, conveying gas.Gas pipe arrangement also comprises vacuum pipe arrangement.
Moment of torsion output is passed to pivot link 112 from decelerator 24 by reducer output shaft 30.The reducer output shaft urceolus 16 be connected with reducer output shaft 30 is configured with in the periphery of reducer output shaft 30.Pivot link 112, reducer output shaft urceolus 16 and reducer output shaft cover 26 is connected with at reducer output shaft 30.The moment of torsion of increase exports and is passed to pivot link 112 by reducer output shaft 30.Reducer output shaft 30 makes the moment of torsion output exported by decelerator 24 be passed to whole parts of pivot link 112 as object.
Power transmission shaft 34 is the frame 36 of connection reducer 24 and the parts of basic point connecting rod 110.Power transmission shaft 34 at least has electric motor stand 33 as a part.Such as, power transmission shaft 34 and electric motor stand 33 become Construction integration.Thus, because of integration, heat dissipation characteristics is improved, thus can high capacity driving be carried out.Power transmission shaft 34 doubles as the electric motor stand 33 of motor 22, is provided with the rotor 38, armature spindle 40 and the stator 43 that form motor 22 wherein.Power transmission shaft 34 is connected with basic point connecting rod 110.The reaction force that moment of torsion exports is passed to basic point connecting rod 110 from the frame 36 of decelerator 24 by power transmission shaft 34, thus pivot link 112 and basic point connecting rod 110 are rotated mutually.The power transmission shaft urceolus 14 be connected with power transmission shaft 34 is configured with in the periphery of power transmission shaft 34.
In addition, actuator 2 is provided with Rotating speed measring portion (position detector) 44 and mechanical brake 46, the position of setting also can beyond illustrated position.
Rotating speed measring portion 44 also can be configured at the inside of basic point connecting rod 110.Thereby, it is possible to shorten the length between basic point connecting rod 110 and pivot link 112, thus the actuator 2 as articulated driving equipment can be made miniaturized.Rotating speed measring portion 44 can use unit to construct, and also can use module structure.
Also central part can be formed by hollow structure by reducer output shaft 30, the middle part of the hollow structure of the through reducer output shaft 30 of rotating shaft of motor 22 and being connected with the power shaft of mechanical brake 46, the frame of mechanical brake 46 is configured at the inside of pivot link 112.Thereby, it is possible to shorten the length between basic point connecting rod 110 and pivot link 112, thus the actuator 2 as articulated driving equipment can be made miniaturized.
Next, with reference to accompanying drawing in the multiple joint manipulator of robot 10, make the shaft-driven joint driving mechanism of the Telescopic rotating of most end side that is drive the details of transfer part 50 to be described.
The stereogram of the structure of the driving transfer part 50 that Fig. 3 is the conjunction 79 that schematically shows relative to robot 10 and makes wrist part 80 flexible, and be the parts that local omits beyond this driving transfer part 50, and the figure for convenience of description, making the part perspective of the structure of the driving transfer part 50 of conjunction 79 inside and represent.
The wrist part of above-mentioned multiple connecting rods, conjunction etc. in the multiple joint manipulator with the robot 10 by reversing multiple joint driving mechanisms that rotating shaft and Telescopic rotating axle link, as being arranged at conjunction 79 (with reference to Fig. 1) using the Telescopic rotating axle of most end side that is the 3rd Telescopic rotating axle 95 as the driving transfer part 50 of the joint driving mechanism of rotating shaft.More specifically, transfer part 50 is driven to be configured at the side of the side in the side in the direction roughly orthogonal with the 3rd Telescopic rotating axle 95 of conjunction 79.In addition, in present embodiment, " roughly orthogonal " is except referring to completely orthogonal structure, is also included in the structure of intersecting in the scope within 10 °.
Comprise in Fig. 3 of the details of the driving transfer part 50 of the 3rd Telescopic rotating axle 95 in expression, conjunction 79 has: the driven pulley 86 as driven pulley rotated as rotating shaft by the 3rd Telescopic rotating axle 95; As the motor 80M of the driving rotational source of the 3rd Telescopic rotating axle 95; By the driving shaft 97 that this its motor 80M rotates around the rotating shaft identical with the 3rd Telescopic rotating axle 95; And via the driving pulley 85 as driving wheel that driving shaft 97 is rotated by motor 80M.In addition, be provided with Rotating speed measring portion (position detector) 80D near motor 80M, the position of setting also can beyond illustrated position.Rotating speed measring portion 80D can use unit to construct, and also can use module structure.
And driving pulley 85 and driven pulley 86 link via the Timing Belt 87 as unskirted power transmission cable wire.In addition, between driving pulley 85 and driven pulley 86, in order to the tension scheme adjusting Timing Belt 87 has idle pulley 88, the action had along with this Timing Belt 87 of this idle pulley 88 can rotate the belt wheel of contact.
The robot 10 of structure described above is not limited to industrial robot, also can be medical robot, household machine people.
According to the driving transfer part 50 being arranged at above-mentioned conjunction 79, with also directly connect compared with the structure as the motor of driving rotational source at the 3rd Telescopic rotating axle 95, achieve the miniaturization of the conjunction 79 as the wrist part arranging the 3rd Telescopic rotating axle 95.Specifically, the conjunction 79 that causes because of the axial arrangement motor at the 3rd Telescopic rotating axle 95 can be suppressed towards the increase of the width of the arm width orthogonal with the bearing of trend of multiple joint manipulator.
Next, the details of the major part of the robot of present embodiment that is the structure of wrist part is described.
Fig. 4 is the partial sectional view of the structure of the joint driving mechanism of the wrist part 80 of the robot 10 schematically showing embodiment.In addition, Fig. 5 represents to be described partial sectional view by the structure of sections different from Fig. 4 to the joint driving mechanism of wrist part.
In the diagram, wrist part 80 has bearing portion 89P.At this bearing portion 89P, be provided with the other end of axle 83, one end of this axle 83 is installed on the driven pulley 86 of the driving transfer part 50 of conjunction 79.Thus, wrist part 80 by the bearing portion 89P of driving transfer part 50 side of conjunction 79 via axle 83 and bearing 89 by cantilever support.By this structure, the width of the Telescopic rotating of the wrist portion of robot 10 (wrist part 80) axial (in figure the 3rd Telescopic rotating axle 85 direction) can be made compact, be therefore conducive to the miniaturization of robot 10.In the present embodiment, in the space matching Sub-assembly Dept 60 of the contrary side of the wrist part 80 of the driving transfer part 50 across conjunction 79, it is provided with for via the interposer (not shown) etc. of electric wiring to the drive system feed drive electric power such as this Sub-assembly Dept 60 hand 81 and the end effector being installed on this and the signal of telecommunication.
Wrist part 80 is configured at least to have possessed rotor 178, the motor of armature spindle 180 and stator 182, decelerator 164, reducer output shaft 160 be incorporated under positioning states be arranged at motor electric motor stand that is shell 172 in motor housing recess 170.
Be arranged at the motor housing recess 170 of shell 172, using the concave bottom portion 170A of hand 81 side as motor housing recess 170, be formed with the first end difference 170B, the second end difference 170C and the 3rd end difference 170D that expand in order from hand 81 side direction main part 71 side (root side).
The armature spindle 180 of motor is connected with the inside of decelerator 164 at the power shaft of decelerator 164, and is connected with the bearing 53 being configured at shell.The periphery of this armature spindle 180 is provided with rotor 178.In addition, the periphery of rotor 178 is provided with stator 182.The concave bottom portion 170A of the motor housing recess 170 of shell 172 and the first end difference 170B locates as location division by these motors having possessed armature spindle 180, rotor 178 and stator 182, and is retained as can be rotated by the head of screw of the screw 98 that is screwed into screw hole 175 and the connecting pin that is arranged at armature spindle 180.
The revolving force of armature spindle 180 is transmitted to decelerator 164, and decelerator 164 exports the moment of torsion that the moment of torsion of this revolving force is increased and exports.
The frame 166 of decelerator 164 is connected with the electric motor stand of motor that is shell 172.Decelerator 164 makes to slow down from the rotation of motor, thus makes the moment of torsion of rotation export increase and export.Decelerator 164 is the built-in gear mechanism (omitting diagram) that the rotation of power shaft is slowed down and the oscillating bearing mechanism (omitting diagram) of supporting reducer output shaft 160 in inside.Reducer output shaft 160 is connected with the bearing 57 be configured in hand 81.
In addition, be provided with the mechanical brake 186 and Rotating speed measring portion (position detector) 184 that are connected with armature spindle 180 via bearing 54 and link nut 55 at wrist part 80, the position arranging these also can be beyond illustrated position.In the present embodiment, second end difference 170C receives as location division by mechanical brake 186 in the motor housing recess 170 of shell 172, is connected in the space in the cap 189 of the motor housing recess 170 that Rotating speed measring portion 184 is arranged as location division at the 3rd end difference 170D of the motor housing recess 170 using shell 172 with armature spindle 180.In addition, Rotating speed measring portion 184 can use unit to construct, and also can use module structure.
Fig. 5 is the figure of structure of the joint driving mechanism observing wrist part 80 from the section different from Fig. 4, specifically, be to from the figure defined for being kept the different section of the part of the screw hole 175 of motor to be described by screw 98.
In Figure 5, the motor having possessed armature spindle 180, rotor 178 and stator 182 is formed with the heat transmission groove portion 177 of caving in towards the outside of shell 172 at the sidewall of the motor housing recess 170 being retained as positioning states.And, fill between this heat transmission groove portion and stator 182 of motor and be solidified with the higher thermal component of heat conductivity 99.
As the thermal component 99 be filled between heat transmission groove portion 177 and stator 182, preferable alloy cream, particularly preferably silver paste.Silver paste heat conductivity is higher, therefore, it is possible to improve radiating effect, and in the past, as widely used metal paste material, therefore operability was superior, thus can improve manufacture efficiency.
According to the robot 10 of wrist part 80 possessing present embodiment, and the motor of locating storage was in the enclosure accommodated in further compared with the modular construction of the profile forming wrist part as in the past, more miniaturized wrist part 80 can be provided.
And, the sidewall of motor (stator 182) periphery of the motor housing recess 170 of shell 172 is provided with heat transmission groove portion 177, this heat transmission groove portion 177 and motor gap-fill and be solidified with the thermal components such as silver paste 99, therefore, it is possible to the heat spreader making the driving because of motor produce by thermal component 99.
Therefore, the heating of wrist part 80 can be suppressed, thus the mechanical breakdown produced because of the heat relative to wrist part 80 driving factor be configured in shell 172 can be reduced, therefore, it is possible to provide the small-sized light-duty robot 10 that can perform various and meticulous operation accurately.
Next, the manufacture method of the manufacture method of the robot of embodiment 1 particularly wrist part 80 is described.Fig. 6 is the three-dimensional cutaway view shell 172 of the wrist part 80 of embodiment roughly being cut into half and schematically shows inner shape.In addition, Fig. 7 is the flow chart of the manufacture method of the robot (wrist part 80) representing embodiment.
In the manufacture method of the wrist part 80 of the present embodiment shown in Fig. 6, first, in step sl, implement machining etc. by forming material to shell 172, jointly form motor housing recess 170, screw hole 175 and heat transmission groove portion 177 with the profile of shell 172.Like this, can be carried out the formation in the formation, particularly motor housing recess 170 of shell 172, screw hole 175 and heat transmission groove portion 177 by identical work mechanism, same processes, therefore efficiency is high.
Herein, when forming multiple heat transmission groove portion 177, do not need to make the shape in heat transmission groove portion 177 whole unanimously identical.Such as shown in Figure 6, also darker heat transmission groove portion 177, more shallow heat transmission groove portion 177 ' can be formed towards the 170A side, concave bottom portion of motor housing recess 170.In addition, also changing towards the degree of depth in the outside of shell 172 from stator 48 both sides (with reference to Fig. 4, Fig. 5) of heat transmission groove portion 177,177 ' can also be made.In a word, when the operation in order to make the end effector being installed on the hand 81 be connected with wrist part 80 put rules into practice is moved, in the scope not damaging the rigidity can born relative to the power of the moment putting on wrist part, determine heat transmission groove portion 177,177 ', other shape, the size such as otch.Such as, the total of the size (volume) in multiple heat transmission groove portion 177,177 ' is formed as 50% ~ 70% of the volume of motor housing recess 170 for target, thus can guarantee the operability etc. of the press-in of thermal diffusivity, rigidity or motor described later.
Next, in step s 2, the motor be made up of armature spindle 180, rotor 178 and stator 182 is pressed in the motor housing recess 170 being formed at shell 172.Motor (stator 182) is located in the location division 473 of the concave bottom portion 170A of motor housing recess 170, the side of the first end difference 170B, by being fixed on the motor housing recess 170 of shell 172 by the head of screw of the screw 98 of screw threads for fastening.
Next, in step s3, between motor (stator 182) and heat transmission groove portion 177,177 ', inject the thermal component 99 of silver paste etc.The injection of thermal component 99 such as can be undertaken by using the method in the past of knockout.Now, near bottom (the concave bottom portion 170A of the motor housing recess 170) side pin of knockout being inserted into heat transmission groove portion 177,177 ', reinject thermal component 99, thus can suppress being involved in of bubble.
Next, in step s 4 which, the thermal components such as silver paste 99 are solidified.The solidification of thermal component 99 takes various method according to the curing type of the thermal component 99 used.Such as, if the thermal component 99 of heat cure type, then drop into the heating that baking box etc. carries out specifying.In addition, if the thermal component of light curable type 99, then the wavelength of the regulation of irradiation ultraviolet radiation etc. light and thermal component 99 is solidified.
Next, as shown in step s 5, by the joint drive assembling parts beyond the motor such as decelerator, mechanical brake in shell 172, the manufacture method of a series of wrist part 80 is terminated.
Above, according to the manufacture method of the wrist part 80 of the robot 10 of above-mentioned present embodiment, by using the easy operation of the comparison of known machining etc., the motor of locating storage is in the enclosure accommodated in further compared with the structure of the parts of the profile forming wrist part with in the past such, the wrist part 80 providing more miniaturized can be manufactured.
And, should in use-case, because of the heat that the driving of motor produces, can by be formed at the periphery of motor heat transmission groove portion 177,177 ' and the thermal component 99 that is filled in this dispel the heat, therefore compared with the situation being directly passed to wrist part 80 with heat, the heating of wrist part 80 can be suppressed, the mechanical breakdown produced because of the heat of the driving factor relative to the wrist part 80 be configured in shell 172 can be reduced.
Embodiment 2
Next, be described with reference to the present embodiment 2 of accompanying drawing to robot.
Fig. 8 is the key diagram of the robot schematically showing present embodiment 2.In addition, use identical numbering to the constituting parts identical with 3-1 embodiment, the repetitive description thereof will be omitted.
In fig. 8, the robot 200 of present embodiment 2 is provided with two the first mechanical arm 10A of the structure identical with the robot 10 of embodiment 1 and the both hands arm robot of the second mechanical arm 10B at main part 213.
Robot 200 has: pallet 212, and it supports this robot 200; Columned main part 213, it is fixedly arranged on pallet 212; And the first arm linking part 215A and the second arm linking part 215B, they are roughly at right angles arranged at the top of the side contrary with pallet 212 side of main part 213 highlightedly from main part 213.
First mechanical arm 10A installation surface side of the side contrary with main part 213 side of the first arm linking part 215A has the first arm fixed part J0A that the 0th rotating shaft J0AL that can run through around the setting direction highlightedly along the first arm linking part 215A rotates.And, the main part 71 of the mutually isostructural first mechanical arm 10A with the robot 10 of above-mentioned embodiment is fixed with at the first arm fixed part J0A.
In the same manner, the second mechanical arm 10B installation surface side of the side contrary with main part 213 side of the second arm linking part 215B has the second arm fixed part J0B that the 0th rotating shaft J0BL that can run through around the setting direction highlightedly along the second arm linking part 215B rotates.And, the main part 71 of the mutually isostructural second mechanical arm 10B with the robot 10 of above-mentioned embodiment 1 is fixed with at the second arm fixed part J0B.
For the first mechanical arm 10A that six axles are controlled and the second mechanical arm 10B, around the first arm fixed part J0A and the second arm fixed part J0B, there is the 0th rotating shaft J0AL and the 0th rotating shaft J0BL respectively, thus in fact as the robot 200 that seven axles control, can realize making the first mechanical arm 10A and each leisure of the second mechanical arm 10B many tracks carry out the higher movement of the free degree.
The robot 200 of 2 according to the present embodiment, possess and the mutually isostructural first mechanical arm 10A and the second mechanical arm 10B of the robot 10 illustrated by above-mentioned embodiment 1, the various and small-sized both hands arm robot 200 of fine manipulation can be carried out accurately therefore, it is possible to provide.
In addition, the present invention is not limited to above-mentioned embodiment, can apply various change, improvement etc. to above-mentioned embodiment.Below variation will be described.
Such as, in the above-described embodiment, the purport as metal pastes such as the preferred silver paste of thermal component 99 is illustrated, but beyond metal paste, various parts also can be used as thermal component 99.
Such as, in the liquid that metal paste is such, also can use the thermal conductivity pile fabric etc. carbon, aluminium etc. being disperseed by Silicon-oil-based.
In addition, if solid, then can use the metal that the silicone rubber of graphite flake, thermohardening type or such as indium etc. are soft.
In addition, the shape in heat transmission groove portion 177,177 ' is not limited to the shape illustrated in above-mentioned embodiment 1, such as, tiny concavo-convex heat transmission groove portion 177,177 ' is formed by becoming, the surface area in heat transmission groove portion 177,177 ' can be made to become large, thus heat dissipation characteristics can be passed through, and the close property of thermal component 99 can be improved.
In addition, the structure of robot 200 to the both hands arm robot with the first mechanical arm 10A and the second mechanical arm 10B two mechanical arms of above-mentioned 2 embodiments is illustrated.But be not limited to this, also can be configured to possess more than three mechanical arms.
The explanation of drawing reference numeral
10,20 ... robot; 2 ... actuator; 10A ... first mechanical arm; 10B ... second mechanical arm; 44,65 ... Rotating speed measring portion; 46 ... mechanical brake; 50 ... drive transfer part; 53,54,57,89 ... bearing; 55 ... link nut; 60 ... Sub-assembly Dept; 70 ... as the basal part 71 of matrix ... as the main part of matrix; 72 ... control part; 73,75,77,79 ... as the conjunction of wrist part; 74,76,78 ... as the connecting rod of wrist part; 80 ... wrist part; 80M ... motor; 81 ... hand; 83 ... axle; 85 ... driving pulley; 86 ... driven pulley; 87 ... Timing Belt; 88 ... idle pulley; 89P ... bearing portion; 91 ... first rotating shaft; 92 ... first Telescopic rotating axle; 93 ... second Telescopic rotating axle; 94,96 ... reverse rotating shaft; 95 ... 3rd Telescopic rotating axle; 97 ... driving shaft 98 ... screw; 99 ... thermal component; 110 ... basic point connecting rod; 112 ... pivot link; 170 ... motor housing recess; 170A ... concave bottom portion; 170B ... first end difference; 170C ... second end difference; 170D ... 3rd end difference; 172 ... shell; 175 ... screw hole; 177,177 ' ... heat transmission groove portion; 178 ... rotor; 180 ... armature spindle; 182 ... stator; 184 ... Rotating speed measring portion; 186 ... mechanical brake; 189 ... cap; 211 ... pallet; 213 ... main part; 215A ... first arm linking part; 215B ... second arm linking part.
Claims (5)
1. a manufacture method for robot, is characterized in that, described robot has matrix, be arranged at the multiple joint manipulator of described matrix, be linked to the wrist part of described multiple joint manipulator, and be rotatably linked to described wrist part and the hand of end effector is installed
Described wrist part has:
Motor, it comprises rotor, armature spindle and stator; And
Shell, it has and positions and the motor accommodating recess of accommodating described motor, and forms the profile of described wrist part,
The manufacture method of described robot comprises:
Shell manufacturing procedure, the motor assembling recess comprising the location division of described stator is formed in this shell manufacturing procedure, fixedly be assembled into the screw of screw of the described stator of described motor assembling recess, and from the sidewall of described motor assembling recess to the heat transmission groove portion caved in the outside of described shell;
Stator assembling procedure, in this stator assembling procedure after the described location division of described motor assembling recess is by described stator location, fixes described stator by described screw;
Thermal component injection process, will have mobility under normal conditions in this thermal component injection process and the high thermal component of heat transmitting injects gap between described stator and described heat transmission groove portion; And
Thermal component curing process, makes described thermal component solidify in this thermal component curing process.
2. the manufacture method of robot according to claim 1, is characterized in that,
Use metal paste as described thermal component.
3. a robot, is characterized in that, described robot: matrix, is arranged at the multiple joint manipulator of described matrix, and the wrist part of a part for formation multiple joint manipulator,
Described wrist part possesses:
Motor, it comprises rotor, armature spindle and stator; And
Shell, it has and positions and the motor accommodating recess of accommodating described motor, and forms the profile of described wrist part,
Described shell forms the motor assembling recess comprising the location division of described stator, for being fixedly assembled into the hole portion of the described stator of described motor assembling recess, in the heat transmission groove portion of the sidewall heat radiation of described motor assembling recess, and be filled with heat sink material in described heat transmission groove portion.
4. robot according to claim 3, is characterized in that,
Described thermal component is by filling metal paste and making it to be solidified to form.
5. the robot according to claim 3 or 4, is characterized in that,
Described matrix is provided with multiple described multiple joint manipulator.
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| Application Number | Priority Date | Filing Date | Title |
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| JP2013226523A JP2015085447A (en) | 2013-10-31 | 2013-10-31 | Robot and manufacturing method of the same |
| JP2013-226523 | 2013-10-31 |
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| CN104589352A true CN104589352A (en) | 2015-05-06 |
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| CN201410455567.8A Pending CN104589352A (en) | 2013-10-31 | 2014-09-09 | Robot and manufacturing method for robot |
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| JP (1) | JP2015085447A (en) |
| CN (1) | CN104589352A (en) |
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| CN104999473A (en) * | 2015-08-26 | 2015-10-28 | 北京航空航天大学 | Arm length-changeable mechanical arm joint module suitable for seat-loaded small mechanical arm |
| CN105415397A (en) * | 2015-12-12 | 2016-03-23 | 常州大学 | Non-hollow wiring mechanical and electronic integrated joint |
| CN106113008A (en) * | 2016-07-11 | 2016-11-16 | 广东澳德电子有限公司 | A kind of articulated robot |
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| CN111496838A (en) * | 2020-04-30 | 2020-08-07 | 北京理工大学 | Active heat dissipation joint and bionic robot comprising same |
| CN111571633A (en) * | 2020-04-30 | 2020-08-25 | 北京理工大学 | Robot joint component with heat dissipation structure, power joint and robot |
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