JP2007229906A - Clean space robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot capable of being effectively sterilized without a large-sized sterilizing device. <P>SOLUTION: A sealing portion 188 can prevent pollutants from entering a clean space 104 from outside 107 of the clean space. The sterilization driving portion 120 is disposed in the clean space 104, and a power transmitting portion 121 can be disposed on the outside 107 of the clean space. The sterilization driving portion 120 is separated from the power transmitting portion 121, and sterization is carried out at high temperatures and high pressure, thereby the propagation of bacteria is suppressed in a robot part belonging to the clean space 104 and the clean space 104 is kept clean. By separating the sterilization driving portion 120 from the power transmitting portion 121, sterilization can be carried out by using a small-sized sterilizing device as compared with a case sterilizing the whole of the robot. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a clean space robot that performs work in a space maintained in a clean atmosphere.

  As a conventional technique, a robot for assisting a surgeon's surgery as a device used in a clean atmosphere space exists as a surgical manipulator. In this robot, a tool, an arm body that holds the tool, and a drive source that drives the arm body to be displaced are all arranged in a clean atmosphere space. For example, U.S. Patent No. 6,057,836 discloses that a robot tool can be removed from other parts to facilitate sterilization and replacement of the tool.

  Similarly, Patent Document 2 discloses a robot as a manipulator device. In this robot, a distal end portion that will be located in the vicinity of the patient and the surgeon is formed so as to be removable with respect to the central portion that is the remaining portion at the time of surgical treatment. The tip portion is sterilized while being removed from the central portion.

Japanese translation of PCT publication No. 2002-530209 (see paragraph [0010]) JP-A-6-261911 (see paragraph [0024])

  In the prior art described above, the sterilization operation is performed with the tip portion of the robot removed from the drive source as the sterilization target. As a sterilization method, there is a high-pressure high-temperature sterilization method in which an object to be sterilized is placed in an autoclave maintained at high temperature and high pressure for a predetermined time to kill cells and microorganisms attached to the object to be sterilized.

  In the prior art, the entire robot is arranged in a clean atmosphere space. Accordingly, the remaining part of the robot other than the tip part may also propagate microorganisms, and it is preferable to perform a sterilization operation.

  However, when trying to sterilize the entire robot under high pressure and high temperature, there is a problem that a large-sized sterilization apparatus that can accommodate the entire robot is required. Further, the remaining part of the robot other than the tip part, for example, the drive source, needs to be configured to be capable of high-pressure sterilization, which increases the manufacturing cost of the robot.

  In addition, when trying to sterilize the remaining part of the robot other than the tip part using another sterilization method, the sterilization effect is often smaller and the workability is lower than that of high-pressure high-temperature sterilization. In this case, the entire robot cannot be sterilized sufficiently, and there is a problem that germs and microorganisms attached to the robot contaminate a clean space.

  Such a problem is caused by other robots arranged in a clean space for applications other than surgery. For example, a robot used in a culture system for culturing animal or plant tissues or cells has the same problem.

  Therefore, an object of the present invention is to provide a robot that can be effectively sterilized without using a large sterilization apparatus.

The present invention is a clean space robot for moving the end effector in a clean space filled with a clean atmosphere gas,
A sterilization drive unit that is formed to be capable of high-temperature and high-pressure sterilization and that drives the end effector to be displaced;
A power transmission unit having a power output end to which the sterilization driving unit is detachably connected, and driving the power output end to transmit power to the sterilization driving unit;
An outer shell covering the power output end in the circumferential direction;
A clean space robot characterized in that the power output end portion is maintained in a drivable state and includes a sealing portion that closes a space inside the outer portion.

  According to the present invention, the outer peripheral portion of the outer portion is covered with the space forming wall that defines the clean space, the sterilization drive unit is disposed in the clean space, and the power transmission unit is disposed outside the clean space. In this case, since the space inside the outer portion is closed by the sealing portion, the fluid passes from the space inside the outer portion to the region where the sterilization driving portion is arranged from the region where the power transmission portion is arranged. Intrusion is prevented. As a result, contaminants can be prevented from entering the clean space, and the clean space can be kept clean.

  In addition, the sterilization drive unit placed in the clean space is sterilized at high temperature and high pressure, so that microorganisms that propagate in the sterilization drive unit can be killed, and the clean space can be cleaned compared to the case where only the end effector is sterilized. Can be kept in. Further, the sterilization drive unit is disconnected from the power output end and separated from the power transmission unit, thereby enabling high-temperature and high-pressure sterilization by itself. Thus, when the sterilization drive unit is sterilized at high temperature and high pressure while being separated from the power transmission unit, high temperature and high pressure sterilization can be performed with a small autoclave as compared with the case of sterilizing the entire robot. Further, since the power transmission unit is disposed outside the clean space, it is not necessary to sterilize, and it is not necessary to use a special structural component suitable for high-temperature and high-pressure sterilization.

  The present invention is characterized in that the sterilization drive unit includes an arm structure to which the end effector is coupled, and a cover that is configured to be detachable from the arm structure and covers the surface of the arm structure.

  According to the present invention, the arm structure itself can be sterilized by removing the cover body from the arm structure and sterilizing the sterilization drive part at high temperature and high pressure, thereby facilitating sterilization inside the sterilization drive part. Can do. In addition, by operating the end effector in a clean space with the cover body attached, it is possible to prevent microorganisms from growing in the internal space of the sterilization drive unit. Further, dust generated in the internal space of the cover body can be prevented from scattering into a clean space.

  According to the present invention, the sterilization drive unit has a sliding part in which two sliding parts slide relative to each other when the end effector is driven, and at least one of the two sliding parts has a high-pressure high-temperature steam. It is characterized in that it is made of a resin having resistance to self-lubricating properties.

  According to the present invention, since one sliding part is made of a resin having self-lubricating property, the lubricating oil applied to the sliding part can be eliminated. This can prevent contamination of the clean space due to the scattering of the lubricating oil. Further, since there is no scattering of the lubricating oil, high temperature and high pressure sterilization can be performed with the sliding portion exposed, and the sterilization drive unit can be sterilized more reliably.

As for this invention, the sterilization drive part is provided with the arm side connector to which arm side electric wiring is connected,
The outer part or the power output end is provided with a base side connector to which the base side electric wiring is connected,
The arm side connector is connected to the base side connector so that the arm side electrical wiring and the base side electrical wiring are electrically connected, and the connection with the base side connector is released. A waterproof cap that seals that a fluid intrudes into the device is configured to be mountable.

  According to the present invention, the arm-side connector and the base-side connector are provided, so that the power transmission unit and the sterilization drive unit can be easily attached and detached even when electrical wiring is provided in the sterilization drive unit. be able to. In addition, by attaching a waterproof cap to the arm side connector with the sterilization drive part separated from the power transmission part, it is possible to prevent fluid from entering the connector when sterilizing the sterilization drive part at high temperature and high pressure, Damage to connectors and electrical wiring can be prevented.

  In the present invention, the sterilization drive unit has a parallel link mechanism in which a plurality of arm mechanisms each composed of one or a plurality of arm bodies and joints are connected, and a drive source for driving each arm mechanism is from an end effector It is arranged at a position away from each other.

  According to the present invention, the drive source is separated from the end effector by the parallel link mechanism, so that the end effector can be prevented from being contaminated by the drive source, and the work is performed in a clean space by reducing the possibility of contamination. be able to.

The present invention provides a space forming wall that defines a clean space filled with a clean atmosphere gas;
Gas adjusting means for keeping the atmosphere gas in the clean space clean;
A clean space robot that moves the end effector in a clean space,
A sterilization drive unit that is disposed in a clean space and is configured to be capable of high-temperature and high-pressure sterilization and that drives the end effector to be displaced;
A power transmission unit disposed outside the clean space, having a power output end to which the sterilization drive unit is connected, and transmitting power to the sterilization drive unit by driving the power output end;
An outer shell portion covering the power output end portion in the circumferential direction and having an outer peripheral portion covered by a space forming wall;
A clean space robot system including a clean space robot including a sealing portion that keeps the power output end portion drivable and closes a space inside the outer portion.

  According to the present invention, since the space inside the outer portion is closed by the sealing portion, it is possible to prevent the fluid from entering the clean space from outside the clean space through the space inside the outer portion. . Further, by covering the outer peripheral portion of the outer shell portion with the space forming wall, it is possible to prevent the fluid from entering the clean space from outside the clean space through the space outside the outer shell portion. As a result, contaminants can be prevented from entering the clean space, and the clean space can be kept clean.

  In addition, the sterilization drive unit placed in the clean space is sterilized at high temperature and high pressure, so that microorganisms that propagate in the sterilization drive unit can be killed, and the clean space can be cleaned compared to the case where only the end effector is sterilized. Can be kept in. Further, since the power transmission unit is disposed outside the clean space, it is not necessary to sterilize, and it is not necessary to use a special structural component suitable for high-temperature and high-pressure sterilization.

  The present invention is characterized in that the sterilization drive unit and the power output end are detachably connected.

  According to the present invention, the sterilization drive unit is disconnected from the power output end and separated from the power transmission unit, thereby enabling high-temperature and high-pressure sterilization by itself. Thus, when the sterilization drive unit is sterilized at high temperature and high pressure while being separated from the power transmission unit, high temperature and high pressure sterilization can be performed with a small autoclave as compared with the case of sterilizing the entire robot.

  The present invention is a culture system for culturing an object including the robot system for a clean space described above.

  According to the present invention, by including the robot system for the clean space described above, it is possible to suppress contamination of the clean space due to the use of the robot, prevent unwanted germs and microorganisms from being mixed, and the target object. Can be cultured.

  According to the first aspect of the present invention, the sealing portion prevents contamination from entering the clean space from outside the clean space, the sterilization drive portion is disposed in the clean space, and the power transmission portion is cleaned. It can be placed outside the space. In addition, by sterilizing the sterilization driving unit at high temperature and high pressure, it is possible to prevent germs from propagating in the robot part belonging to the clean space among the robots, and to further keep the clean space clean.

  In addition, by separating the sterilization drive unit from the power transmission unit, sterilization can be performed more easily than when the entire robot is sterilized, and sterilization can be performed using a small sterilization apparatus. . Furthermore, since the power transmission unit does not need to be sterilized, it is not necessary to use special structural parts suitable for high-temperature and high-pressure sterilization, and the manufacturing cost can be reduced.

  According to the second aspect of the present invention, since the cover body is configured to be removable from the arm structure body, the arm structure body itself can be sterilized with the cover body removed, and the sterilization drive unit The internal sterilization can be facilitated. In addition, by operating the end effector in a clean space with the cover body attached, it is possible to prevent germs from growing in the internal space of the sterilization drive unit.

  According to the third aspect of the present invention, in the sliding portion, one of the sliding portions is made of a resin having self-lubricating property, so that the lubricating oil applied to the sliding portion can be eliminated, Contamination of clean space due to scattering can be prevented.

  According to this invention of Claim 4, even if it is a case where an electrical wiring is provided in a sterilization drive part by providing an arm side connector and a base side connector, between a power transmission part and a sterilization drive part It can be easily attached and detached. In addition, by attaching a waterproof cap to the arm side connector with the sterilization drive part separated from the power transmission part, it is possible to prevent fluid from entering the connector when sterilizing the sterilization drive part at high temperature and high pressure, Damage to connectors and electrical wiring can be prevented.

  According to the fifth aspect of the present invention, the drive source is separated from the end effector by the parallel link mechanism, so that the end effector can be prevented from being contaminated by dust generated from the drive source. Work in a clean space with less.

  According to the sixth aspect of the present invention, it is possible to prevent contaminants from entering the clean space by passing through the inner space of the outer portion from the outside of the clean space by the sealing portion. It can be kept clean. Accordingly, the power transmission unit can be disposed outside the clean space. This eliminates the need to sterilize the power transmission unit. Therefore, it is not necessary to use special structural parts suitable for high-temperature and high-pressure sterilization, and the manufacturing cost can be reduced. Further, the sterilization drive unit can be sterilized at a high temperature and high pressure together with the end effector, and it is possible to keep the clean space clean by suppressing the propagation of germs in the robot portion belonging to the clean space.

  According to the seventh aspect of the present invention, by separating the sterilization drive unit from the power transmission unit, the sterilization operation can be easily performed as compared with the case of sterilizing the entire robot, Sterilization can be performed using a sterilizer.

  According to the present invention described in claim 8, by including the robot system for the clean space described above, contamination of the clean space due to the use of the robot can be suppressed, and unwanted germs and microorganisms can be mixed. The object can be cultured while preventing.

  FIG. 1 is an exploded perspective view showing the clean space robot 140 according to the first embodiment of the present invention, and FIG. 2 is a cross-sectional view showing the culture system 100 including the clean space robot 140. The clean space robot 140 according to the first embodiment of the present invention is used in a clean space 104 filled with a clean atmosphere gas. For example, a culture system 100 that cultures a target culture such as tissue, cells, or microorganisms of animals and plants in large quantities. Used for.

  As shown in FIG. 2, the culture system 100 includes a clean space robot 140, a space forming wall 103 that defines a clean space 104 filled with a clean atmosphere gas, and a gas that keeps the atmosphere gas in the clean space 104 clean. The adjustment means 105, the culture shelf 102 which mounts the culture container 101 in which the target culture is accommodated, and the process means 106 which performs the process required for culture | cultivation are included.

The culture shelf 102 and the processing means 106 are disposed in the clean space 104. The robot 140 drives the culture container 101 to be displaced. Accordingly, the culture system 100 moves the culture container 101 mounted on the culture shelf 102 and transports it from one culture shelf to the other culture shelf, or moves the container 101 toward the processing apparatus 106. In other words, the culture object in the culture system is maintained at an appropriate culture condition. The gas adjusting means is, for example, HEPA (High
It is realized by a fan filter unit including an efficiency particulate air filter.

In the present invention, a clean space means a space in which the number of germs existing in the unit space is equal to or less than a predetermined number, and means a space in which an apparatus placed in the space needs to be sterilized. For example, a clean space defined by the US Federal Standard (abbreviated as FED standard) and having a clean degree of 100 or less is defined as a clean space. In other words, a space in which the number of particles having a particle diameter of 0.5 μm or more contained per 0.028 m ³ (1 cubic foot) is 100 or less is defined as a clean space. In other words, the International Organization for Standardization (International
A space of Class 5 or lower defined in Organization for Standardization (abbreviated ISO) is defined as a clean space. Further, the number of germs present per unit volume in the clean space in the present invention varies depending on the use, and the required cleanliness varies depending on the gene recombination work, cell culture work, food hygiene work, surgical operation support work, etc. . For example, the robot 140 is used in a sterile room, a so-called biological clean room.

  The robot 140 is a four-axis robot having four degrees of freedom, and a hand 161 serving as an end effector is connected to the tip. The robot 140 can move the hand 161 to an arbitrary three-dimensional position within the movable range by the relative displacement of the arm bodies connected by the joint portions. In the present embodiment, the hand 140 is formed in a plate shape, and its thickness direction extends vertically. The upper surface of the hand 140 is a mounting surface on which the culture container 101 is mounted. The robot 140 holds and holds the culture container 101 from below while holding the mounting surface of the hand 161 horizontally, and moves the held culture container 101 to a target position.

  The robot 140 includes a sterilization drive unit 120 that is disposed in the clean space 104 and can be sterilized, and a power transmission unit 121 that is disposed outside the clean space 104 and is a non-sterile unit that is not sterilized. The sterilization drive unit 120 includes a plurality of joint portions and an arm body connected by the joint portions, and moves the hand 161 in a displaced manner. The sterilization drive unit 120 is formed so as to be capable of high-temperature and high-pressure sterilization. Moreover, the power transmission part 121 does not need to be formed so that high temperature / high pressure sterilization is possible.

  The power transmission unit 121 has a power output end formed so as to be connectable to the power input end of the sterilization drive unit 120. The power transmission unit 121 transmits the driving force to the sterilization driving unit 120 by connecting the power input end and the power output end. The power given from the power transmission unit 121 to the sterilization driving unit 120 becomes a part of the driving force for operating the hand 161.

  FIG. 3 is a cross-sectional view showing the robot 140. The sterilization drive unit 120 is disposed in the clean space 104 as described above, and includes the arm structure 130 and the up and down turning body 110. In the arm structure 130, a plurality of arm bodies are connected side by side in the series direction. The hand 161 is disposed at one end portion in the series direction of the arm structure 130, and the other end portion in the series direction is connected to the mounting member 158 of the up and down swing body 110.

  The arm structure 130 includes a plurality of arm bodies, a joint portion that connects the two arm bodies so as to be angularly displaceable, and a drive source that relatively displaces the two arm bodies. In the present embodiment, the arm configuration body 130 includes a first arm body 159, a second arm body 160, a hand 161 serving as a third arm body, a first joint portion 131, and a second joint portion 132. Including. Each arm body is formed in a longitudinal shape.

  The first joint portion 131 is connected to one end portion in the series direction of the first arm body 159 and the other end portion in the series direction of the second arm body 160, and the second arm body 160 is connected to the first arm body 159. It is connected so as to be angularly displaceable around the third axis J3 set to. The second joint portion 132 is connected to one end portion in the series direction of the second arm body 160 and the other end portion in the series direction of the hand 161, and the hand 161 is set as a connection portion with respect to the second arm body 160. It is connected around the 4 axis J4 so that it can be angularly displaced. Here, the third axis J3 and the fourth axis J4 are axes extending vertically.

  Further, the third motor M23 and the third shaft reducer G23 are fixed to the first arm body 159. The power of the third electric motor M23 is applied to the first joint part 131 via the third shaft speed reducer G23, so that the first joint part 131 moves the second arm body 160 to the third arm part 159. Angular displacement about the axis J3. Further, the fourth electric motor M24 and the fourth shaft speed reducer G24 are fixed to the second arm body 160. When the power of the fourth electric motor M24 is applied to the second joint part 132 via the fourth shaft speed reducer G24, the second joint part 132 moves the hand 161 around the fourth axis J4 with respect to the second arm body 160. Angular displacement. The third electric motor M23 and the fourth electric motor M24 are realized by servo motors.

  FIG. 4 is an enlarged cross-sectional view showing a part of the sterilization drive unit 120. The third electric motor M23 and the third shaft speed reducer G23, and the fourth electric motor M24 and the fourth shaft speed reducer G24 have the same configuration and driving form except that the arranged arm bodies are different. Therefore, the third motor M23 and the third shaft reducer G23 will be described, and the description of the fourth motor M24 and the fourth shaft reducer G24 will be omitted.

  The third electric motor M <b> 23 is formed in a substantially cylindrical shape, and its axis extends along the longitudinal direction of the first arm body 159. The third electric motor M23 has an output shaft 173, and a first bevel gear 174 is coaxially connected to the output shaft 173. The axes of the output shaft 173 and the first bevel gear 174 extend horizontally. Further, a housing portion 178 of a cyclo reducer G23 is fixed to one end portion in the series direction of the first arm body 159 as a third shaft reducer.

  In the cyclo reducer G23, the input shaft 175 and the output shaft 177 are supported by the casing 178 so as to be rotatable around a predetermined axis. The cyclo reducer G23 decelerates the rotation of the input shaft 175 and outputs it from the output shaft 177. The axis of the input shaft 173 and the output shaft 175 is formed coaxially and is set to the third axis J3 in the present embodiment. The input shaft 175 of the cyclo reducer G23 is supported to be rotatable about the third axis J3 with respect to the first arm body 159. The output shaft 177 of the cyclo reducer G23 is fixed to the other end portion in the series direction of the second arm body 160. Therefore, the cyclo reducer G23 functions as a joint portion that connects the first arm body 159 and the second arm body 160 around the third axis J3.

  A second bevel gear 176 is coaxially connected to the input shaft 175 of the cyclo reducer G23. An axis line in which a coaxial through hole is formed in the central axis line of the input shaft 175 and the second bevel gear 176 extends vertically. The first bevel gear 174 and the second bevel gear 176 mesh with each other. When the output shaft 173 is rotated by the third electric motor M23, the decelerated rotation is transmitted to the second arm body 160, and the second arm body 160 can be rotated with respect to the first arm body 159.

  Similarly, the fourth electric motor M24 is fixed to the second arm body 160. The fourth axis reducer is a cyclo reducer G24, and the casing is fixed to the second arm body, and the output shaft is fixed to the hand 161. Therefore, the cyclo reducer G24 functions as a joint portion that connects the second arm body 160 and the hand 161 around the fourth axis J4. Rotating the hand 161 about the fourth axis J4 relative to the second arm body 160 by transmitting the rotation of the output shaft of the fourth motor M24 to the input shaft of the cyclo reducer G24 via the bevel gear pair. Can do.

  Since the cyclo reducer has a smaller number of parts than other reducers, the cyclo reducer is compact and lightweight and can improve maintainability. Further, since the meshing rate is higher than that of the involute gear and the tooth breakage is suppressed, it is possible to realize a long life and to achieve high efficiency and high rigidity. Accordingly, it can be suitably used for the speed reducers G23 and G34 of the sterilization drive unit 120 in which high temperature and high pressure sterilization is performed.

  Further, the third and fourth shaft speed reducers G23 and G24 have a hollow structure, and a through hole 177 penetrating along the central axis is formed. The output shaft 177 of each of the reduction gears G23 and G24 is formed with a communication hole 184 that communicates the through hole 177 and the external space. The communication hole 184 extends in a direction perpendicular to the central axis of the speed reducer. As a result, the electrical wiring or the like can extend from the other end in the series direction of the arm structure 130 toward the front end in the series direction through the through hole 177 and the communication hole 184. In this case, it is preferable that a guide portion for guiding the electrical wiring to the through hole 177 is provided in the arm body. The guide portion guides the electrical wiring so as to extend along a path away from the bevel gear pairs 174 and 175. This can prevent the electrical wiring and the bevel gear from contacting each other. By passing the wiring through the through-hole 177, the structure can be simplified, and various bacteria can be prevented from attaching. Moreover, the cross-sectional shape of an arm part can be reduced in size by placing an electric motor sideways.

  In the present embodiment, among the components such as the eccentric body, the outer pin, the curved plate, and the inner pin that constitute the third shaft and the fourth shaft speed reducers G23 and G24, sliding in which two portions slide relative to each other. At least one of the parts is made of a self-lubricating material. Moreover, all the parts which comprise the reduction gears G23 and G24 consist of a material which has hot water resistance which enables high temperature / high pressure sterilization.

  Examples of the resin having hot water resistance include PEEK (polyether ether ketone) resin, PPS (polyphenylene sulfide) resin, epoxy resin, epoxy resin filled with glass fiber, and engineering plastic such as phenol resin. Examples of the resin having self-lubricating property include engineering plastics such as PEEK resin, PPS resin, and phenol resin.

Here, the hot water resistance means a property with little change in material properties and shape when high-temperature and high-pressure sterilization is performed. For example, as high-temperature and high-pressure sterilization conditions, when kept at 121 ° C. and a gauge pressure of 100 KPa / cm ² or less for 15 minutes, a material that has no or little change in properties and shape even when exposed to the conditions, has hot water resistance. Adopted as material. The self-lubricating material means a solid lubricating material in which a surface layer is formed on which two portions can slide smoothly without using a lubricant such as grease or oil.

  Similarly, the bevel gear pairs 174 and 176 for transmitting power from the output shafts 173 of the third and fourth shaft motors M23 and M24 to the corresponding reduction gears G23 and G24 are also made of a material having hot water resistance. . Further, at least one surface portion of the bevel gear pairs 174 and 176 is made of a self-lubricating material. In this case, the entire bevel gear may be made of a material having self-lubricating properties, and the surface portion may be coated with a material having self-lubricating properties. Further, the third shaft motor M23 and the fourth shaft motor M24, and the wiring and encoder attached to the motors M23 and M24 also have heat resistant water.

  Arm-side electrical wiring 114 necessary for operating and controlling the third shaft motor M23 and the fourth shaft motor M24 extends from the motors M23 and M24 through the arm structure 130 toward the vertical swing body 110. The arm-side electric wiring 114 is a signal for transmitting the detection signal from the sensor provided in the hand 161 to the outside in addition to the power wiring and control wiring necessary for driving the third and fourth shaft motors M23 and M24. Wiring etc. may be included.

  As shown in FIG. 3, the up-and-down turning body 110 drives the moving body 150 up and down and angularly moves around a first axis J1 extending vertically. Specifically, the up-and-down turning body 110 is vertically guided so as to be linearly movable by the guide rail 149, the support rail 149 fixed along the support post 148, and the support rail 149 extending vertically. A body 150, a rod-shaped slide screw member 156 provided in parallel with the guide rail 149 in parallel and formed with an external screw, and a nut member 157 with an internal screw screwed to the slide screw member 156. The L-shaped attachment member 158 connected to the movable body 150 and the nut member 157 and the base portion 111 that supports the support column 148 are configured.

  The base portion 111 supports the lower end portions of the support rod 148 and the guide rail 149 while supporting the lower end portion of the slide screw member 156 so as to be rotatable around the second axis J2 by the bearing 198. Therefore, the base part 111 and the sliding screw member 156 are connected via the base part 111. In addition, the upper ends of the support column 148 and the sliding screw member 156 are connected to each other through the connecting portion 112. The connecting portion 112 supports the upper end portion of the slide screw member 156 by the bearing 199 so as to be rotatable around the second axis J2.

  The attachment member 158 connects the nut member 157 and the moving body 150 to prevent the nut member 157 from turning around the second axis J2. Further, as described above, the attachment member 158 connects the movable body 50 and the other end portion in the series direction of the first arm body 159. Therefore, the support column 148 and the sliding screw member 156 support the arm component 130 in the horizontal direction, and the sliding screw member 156 supports the arm component 130 in the vertical direction.

  The base 111 is detachably fixed to an upper wall 181 of a second shaft casing 147 described later. Further, the sliding screw member 156 is detachably fixed to an output shaft 191 of a second shaft speed reducer G22 described later. The second shaft casing 147 is angularly driven around the first axis J1, and the output shaft 191 of the second shaft reducer G22 is rotationally driven around the second axis J2. Here, the first axis J1 and the second axis J2 are axes extending vertically. In the present embodiment, the first axis J1 and the second axis J2 are arranged at a distance in the horizontal direction.

  When the second shaft casing 147 is angularly displaced about the first axis J1, the arm structure 130 supported by the vertical swing body 110 as well as the vertical swing body 110 fixed to the second shaft casing 147 is also the first axis. Angular displacement around J1. Further, when the output shaft 191 of the second shaft speed reducer G22 rotates around the second axis J2, the nut member 157 that engages with the slide screw member 156 is displaced in the vertical direction and is connected to the nut member 157. The body 130 is also displaced in the vertical direction.

  Further, the moving body 150 is directly or indirectly connected to cable guide means for guiding the arm side electric wiring 114 to the power transmission unit 121. Specifically, the cable guiding means is realized by the cable bear 113. The cable bear 113 is a long body formed with an insertion hole through which the arm-side electric wiring 114 is inserted, and the deformation form is limited in advance. One end of the cable bear 113 is fixed to the moving body 150 and the other end is fixed to the lower end of the support column 148. The cable bear 113 maintains a state along the support column 148 and is deformed according to the up and down movement of the moving body 150. As a result, the arm-side electrical wiring 114 can be prevented from separating from the support column 148. The arm-side electrical wiring 114 may include a signal wiring for transmitting a detection signal from a sensor provided on the support column 148 to the outside.

  FIG. 5 is a cross-sectional view showing the sterilization drive unit 120 cut along the line VV in FIG. The moving body 150 is configured to include a fitting portion 185 that can be fitted to the guide rail 149 and movable in the vertical direction, and a reinforcing portion 186 that is fixed to the fitting portion 185. The fitting portion 185 moves in the vertical direction by sliding with respect to the guide rail 149. The reinforcing portion 186 includes an outer frame 186 a that covers the fitting portion 185 from the opposite side with respect to the guide rail 149 and is formed in a substantially C shape, and a pressing plate 186 b. By fitting the holding plate 186b close to the outer frame 186a with the bolt 187, the fitting portion 185 can be held between the outer frame 186a and the holding plate 186a.

  The fitting portion 185 is realized by a material having hot water resistance and self-lubricating properties. The guide rail 149 and the reinforcing portion 186 are realized by a metal having sufficient strength and rust resistance. Thus, the fitting part 185 is made of a resin having a self-lubricating property, so that the movable body 150 can be slid and moved without the need for a lubricant. Further, by reinforcing the fitting portion 185 with the reinforcing portion 186, it is possible to obtain sufficient strength to support the arm structure 130. In the present embodiment, the fitting portion 185 is made of PPS resin. The guide rail 149 and the reinforcing portion 186 are made of stainless steel (SUS).

  Similarly, the nut member 157 is realized by a material having hot water resistance and self-lubricating properties. Further, the sliding screw member 156 is realized by a metal having sufficient strength and rust resistance. As described above, the nut member 157 is made of a resin having self-lubricating property, and can be slid and moved without the need for a lubricant. In the present embodiment, the nut member 157 is made of PPS resin. The sliding screw member 156 is made of stainless steel (SUS).

  The bearings 198 and 199 that rotatably support the sliding screw member 156 of the sterilization driving unit 120 are also preferably low dust generation bearings that do not require a lubricant. For example, sliding parts such as outer ring and inner ring groove parts and balls of bearings 198 and 199 are made of the above-mentioned resin having self-lubricating property, and various fluororesins such as Teflon (registered trademark) on the surface of the sliding part, Coated with molybdenum trisulfide. This eliminates the need for a lubricant and suppresses the generation of dust in the bearings 198 and 199.

  As shown in FIG. 3, the robot 140 includes a base 144 fixed by a plurality of bolts 143 to an installation floor 142 that is a predetermined mounting member, and a power transmission unit 121. The base 144 and the power transmission unit 121 are disposed in the space 107 outside the clean space 104. The installation floor 142 becomes a part of the space forming wall 103 that defines the clean space 104. By fixing the installation floor 142 and the base 144 without a gap, it is possible to prevent contaminants from entering the clean space 104 from between the installation floor 142 and the base 144.

  The power transmission unit 121 includes a first shaft casing 146 fixed to the lower surface of the base 144 by a plurality of bolts 145, and a second shaft casing 147 disposed between the first shaft casing 146 and the installation floor 142. Including. The power transmission unit 121 further includes a first shaft motor M21, a second shaft motor M22, a first shaft reducer G21, and a second shaft reducer G22. The first electric motor M21 and the second electric motor M22 are realized by servo motors.

  The base 144 is formed in a substantially cylindrical shape with the first axis J1 as the central axis, and the second shaft casing 146 is built in the base 144. In addition, the base 144 has the housing portions of the first shaft motor M21 and the first shaft speed reducer G21 fixed on the same axis as the first axis J1. The second shaft casing 146 is formed coaxially with the base 144. The base 144 covers the upper wall 181 that is one end in the axial direction of the second shaft casing 147 in the circumferential direction around the first axis J1.

  The first shaft motor M21 has an output shaft 165 protruding into the first shaft casing 146, and a pulley 166 is fixed to the output shaft 165. The first shaft reduction gear G21 has a through hole 167, and a pulley 169 is coaxially fixed to the input end 168. A belt 170 is wound between the pulleys 166 and 169, and the rotation of the output shaft 165 of the first shaft motor M21 is transmitted to the input end 168 of the first shaft reducer G21. The first shaft speed reducer G21 is realized by a hollow speed reducer using a wave gear mechanism called a harmonic drive (registered trademark). The output end 171 of the first shaft reduction gear G21 is fixed to the second shaft casing 147 by a bolt 172.

  Therefore, when the output shaft 165 of the first shaft motor M21 is rotationally driven, the second shaft casing 147 is rotationally driven around the first axis J1 of the first shaft reducer G21. In the second shaft casing 147, a second shaft motor M22, a second shaft speed reducer G22 that decelerates rotation of the output shaft 180 of the second shaft motor M22, and second to fourth shaft motors M22 to M24 are provided. Second to fourth axis amplifiers Amp12 to Amp14 for supplying drive power and drive signals for driving are accommodated, respectively. The second shaft casing 147 has an upper wall 181, a lower wall 182, and a peripheral wall 183.

  The second axis J2 is parallel to the first axis J1, but is slightly eccentric in the horizontal direction from the first axis J1 in this embodiment. Therefore, the rotation of the first shaft motor M21 is decelerated by the first shaft reducer G21 and transmitted to the second shaft casing 147. Accordingly, the first arm body 159 rotates around the first axis J1 together with the second arm body 160 and the hand 161.

  Thus, even if the second shaft casing 147 rotates around the first axis J1, the first shaft deceleration which is a hollow rotational drive source having the through hole 167 on the rotation axis of the output end, that is, the first axis J1. Since the machine G21 is used, the cables of the second-axis motor M21 and the second-axis amplifier Amp12 to the fourth-axis amplifier Amp14 are connected from the rear-stage second-axis casing 147 to the front-stage first-axis casing 146 through the through holes 167. The number of wires can be reduced without complicating the configuration.

  FIG. 6 is an enlarged cross-sectional view showing a part of the power transmission unit 121. The second shaft speed reducer G22 includes a first gear 190 that is an input end fixed to the output shaft 180 of the second shaft motor M22, and an output shaft 191 that is an output end portion having a rotation axis on the second axis J2. The second gear 192 is fixed to the output shaft 191 and meshes with the first gear 190. The lower end portion of the output shaft 191 is pivotally supported on the intermediate wall portion 194 of the second shaft casing 147 by the bearing 193, and the upper end portion of the output shaft 191 is pivotally supported on the upper wall 181 of the second shaft casing 147 by the bearing 195. The

  The output shaft 191 of the second shaft motor M22 is coupled to the lower end portion of the slide screw member 156 by a coupling 197. The lower end portion of the sliding screw member 156 is pivotally supported coaxially with the second axis J2 by a bearing 198 provided on the base portion 111 fixed to the upper wall 181 of the second shaft casing 147. With such a configuration, the rotation of the second shaft electric motor M22 is transmitted to the sliding screw member 156 via the output shaft 191 of the second shaft reduction gear G22, and the moving body 150 moves up and down along the sliding screw member 156. Driven.

  In the present embodiment, in a state where the sterilization drive unit 120 and the power transmission unit 121 are connected, the rotational force around the first axis J1 is transmitted from the power transmission unit 121 to the base unit 111 as the first power. Further, the rotational force around the second axis J2 is transmitted to the sliding screw member 156 as the second power.

  Therefore, in the power transmission unit 121, the upper wall 181 of the second shaft casing 147 serves as a first power output end that transmits the first power to the sterilization drive unit 120, and the output shaft 191 of the second reduction gear G23 is It becomes the 2nd power output end which transmits the 2nd power to sterilization drive part 120. In the sterilization drive unit 120, the base unit 111 serves as a first power input end that transmits the first power from the power transmission unit 121, and the sliding screw member 156 transmits the second power from the power transmission unit 121. It becomes the 2nd power input end part.

  The base 144 is formed with a first outer portion 210 that covers the upper wall 181 that is one end of the second axial casing 147 in the axial direction around the first axis J1 in the circumferential direction. The first outer portion 210 has an opening centered on the first axis J1. In addition, the first outer portion 210 is fixed to the installation floor 142 constituting a part of the clean space forming wall 103, so that contaminants enter the clean space 104 from between the base 144 and the installation floor 142. Is prevented.

  A central portion of the upper wall 181 of the second shaft casing 147 is formed with a second outer portion 211 that covers the output shaft 191 of the second shaft reducer G22 in the circumferential direction around the second axis J2. The second outer portion 210 is formed with an opening centered on the second axis J2.

  In the present embodiment, the robot 140 includes a sealing portion 188 that closes a space that penetrates the first outer portion 210 in the axial direction inside the first outer portion 210 that is the outermost outer portion. Specifically, a first V ring 188a that is a sealing member that closes the space between the first outer portion 210 and the peripheral surface of the upper wall 181 of the second shaft casing 147, a second outer portion 211, and a second shaft speed reducer G22. And a second V-ring 188b which is a sealing member that closes the output shaft 191. Each V-ring 188a, 188b has flexibility and elasticity, and allows rotation about the axis of the corresponding power output end in a state where the corresponding gap is closed.

  When a through hole penetrating in the axial direction is formed in the upper wall 181 of the second shaft casing 147, the sealing portion 188 also includes a seal member that closes the through hole 189. For example, the sealing portion 188 is formed with a through-hole 189 formed in the upper wall 181 of the second shaft casing 147 in order to transmit the signal of the arm side electric wiring 114 provided in the sterilization driving unit 120 to the outside of the clean space. In such a case, a seal member 188c that closes the through hole 189 is also included. By providing the sealing portion 188 in this way, it is possible to eliminate a gap penetrating the first outer portion 210 in the axial direction inside the first outer portion 210 in the base 144.

  The arm side connector 301 is connected to the lower end side end of the arm side electric wiring 114. Similarly, the base side electrical wiring 232 is provided in the second shaft casing 147, and the base side connector 300 is connected to the upper end portion of the base side electrical wiring 232. In the present embodiment, the base connector 300 is fixed to the upper wall 181 of the second shaft casing 147.

  The arm-side connector 301 and the base-side connector 300 are formed so as to be detachable, and the arm-side electric wiring 114 and the base-side electric wiring 232 are electrically connected by attaching them. Therefore, when the base portion 111 is fixed to the upper wall 181, a part of the base portion 111 is formed so as not to interfere with the base-side connector 300 formed on the upper wall 181.

  FIG. 7 is a cross-sectional view showing a state where the sterilization drive unit 120 and the power transmission unit 121 are separated. In the present embodiment, the sterilization drive unit 120 and the power transmission unit 121 are configured to be separable. Specifically, the base 111 of the sterilization drive unit 120 is detachably fixed to the upper wall 181 of the second shaft casing 147 by the bolts 202. As a result, the sterilization drive unit 120 can be separated from the power transmission unit 121 by screwing out the bolt 202. Further, the sliding screw member 156 and the output shaft 191 of the second shaft reducer G22 are connected by a coupling 197. In the present embodiment, the coupling is realized by a shaft coupling in which two shafts to be coupled can be freely attached and detached, and specifically, by an Oldham coupling that is detachable. As a result, the slide screw member 156 can be easily detached from the output shaft 191 of the second shaft reduction gear G22.

  The bearing 195 that pivotally supports the upper end portion of the output shaft 191 of the second shaft reduction gear G22 is covered with a ring-shaped lid 196. The output shaft 191 passes through the lid body 196 and protrudes above the lid body 196. The lid 196 is fixed to the upper wall 181 with bolts 197. Further, the V seal 188b closes between the lid 196 and the output shaft 191. Covering the bearing 195 with the lid 196 in this way prevents the bearing 195 from being exposed to the clean space 104.

  Further, when the fitting portion 199 formed on the upper wall 181 and the fitting portion 198 formed on the base portion 111 are fitted, their center positions coincide with each other, and alignment can be facilitated. In the present embodiment, the upper wall 181 is formed with a convex portion 199 that is formed in a ring shape centered on the second axis J2. The convex portion 199 is an upper inner peripheral portion of the upper wall 181 and protrudes in the axial direction as compared with the upper outer peripheral portion. The base portion 111 is formed with a recess 198 that forms a cylindrical space centered on the second axis J2. By forming an inlay structure in which the convex portion 199 and the concave portion 198 are fitted, the second axis J2 between the sterilization driving unit 120 and the power transmission unit 121 can be matched. In this case, a pin and a pin hole for preventing the sterilization driving unit 120 from rotating with respect to the power transmission unit 121 are provided in the base unit 111 and the upper wall 191, respectively. In the present embodiment, the convex portion 199 is formed on the upper wall 181 so that the fluid can be prevented from entering the output shaft 191 of the second shaft motor M22.

  As described above, according to the present embodiment, the first outer portion 210 of the base 144 is fixed to the installation floor 142 that constitutes a part of the clean space forming wall 103, whereby the first outer portion 210. And contaminants can be prevented from entering the clean space 104 from between the installation floor 142. In addition, the sealing portion 188 blocks the space inside the first outer portion 210, thereby preventing contaminants from entering the clean space 104 from the gap inside the first outer portion 210.

  Accordingly, the sterilization drive unit 120 is disposed in the clean space 104 and the power transmission unit 121 is disposed outside the clean space 107, and the clean space 104 can be kept clean. In addition, by sterilizing the sterilization driving unit 120 with high-pressure and high-temperature sterilization, it is possible to prevent germs from breeding in the robot portion of the robot 140 belonging to the clean space 104 and to further keep the clean space clean.

  In addition, by separating the sterilization drive unit 120 from the power transmission unit 121, sterilization can be performed more easily than when the entire robot is sterilized, and sterilization is performed using a small sterilization apparatus. Can do. Further, the entire robot portion disposed in the clean space can be sterilized, and the clean space 104 can be sterilized more reliably than in the case where only the tip of the robot 140 is sterilized. Furthermore, the power transmission unit 121 is disposed outside the clean space 107 and does not need to be sterilized. Therefore, it is not necessary to use special structural parts suitable for high-temperature and high-pressure sterilization, and the manufacturing cost can be reduced.

  Further, according to the present embodiment, in the sliding portion, one of the sliding portions is made of a resin having self-lubricating property, so that the lubricating oil applied to the sliding portion can be eliminated, and the lubricating oil is scattered. It is possible to prevent contamination of the clean space. Further, since there is no scattering of lubricating oil, high temperature and high pressure sterilization can be performed with the sliding portion exposed, and the sterilization drive unit 120 can be sterilized more reliably. Further, the sterilization operation can be performed in a state where the sliding portion is exposed, and it is not necessary to cover the sliding portion with a cover, and it is possible to prevent germs from growing inside the sliding portion.

  Specifically, the third and fourth shaft speed reducers G23 and G24, the bevel gear pairs 174 and 175, the nut member 157 and the sliding screw member 156, the guide rail 149 and the moving body 150, the bearing 198 of the sliding screw member 156, The lubricant in the sliding portion in 199 can be eliminated, dust generation of the sterilization driving unit 210 can be suppressed, and high-pressure and high-temperature sterilization can be performed. Moreover, it is preferable that the sterilization drive part 120 has rust resistance as a whole, and it is preferable that each component which comprises the sterilization drive part 120 is comprised with the material which has rust resistance.

  As described above, by culturing an object using the clean space robot system 101 having the robot of the present embodiment, contamination of the clean space 104 due to the use of the robot can be suppressed, which is undesirable. The object can be cultured while preventing contamination with various bacteria and microorganisms.

  FIG. 8 is a perspective view showing a coupling 197 that connects the output shaft 191 and the slide screw member 156. The coupling 197 that connects the output shaft 191 and the slide screw member 156 is realized by the Oldham coupling 197. The coupling 197 is realized by including a first member 405 fixed to one of the two shafts to be coupled, a second member 406 fixed to the other shaft, and an intermediate member 409. . The first member 405 is formed in a substantially cylindrical shape, and one shaft is fixed to one end in the axial direction. In addition, a convex portion 407 that passes through the axis and extends perpendicularly to the axis and protrudes in the axial direction from the remaining portion is formed at the other end in the axial direction.

  The second member 406 is formed in a substantially cylindrical shape, and the other shaft is fixed to the other end in the axial direction. A convex portion 408 that passes through the axis and extends perpendicularly to the axis and protrudes in the axial direction from the remaining portion is formed at one end in the axial direction.

  The intermediate member 409 is interposed between the first member 405 and the second member 406 and serves as a spacer for connecting the first member 405 and the second member 406. The intermediate member 409 is formed in a substantially cylindrical shape. The intermediate member 409 has a first recess 411 formed at one end in the axial direction and a second recess 410 formed at the other end in the axial direction. The first recess 411 is formed with a first recess that passes through the axis of the intermediate member 401 and extends perpendicularly to the axis, and is recessed in the axial direction from one end surface in the axial direction. Further, the second recess 410 is formed with a second recess that passes through the axis of the intermediate member 401 and extends perpendicularly to the axis, and is recessed in the axial direction from the other axial end surface. The first straight line H1 along the direction in which the first recess extends extends perpendicularly to a plane including the second straight line H2 along the direction in which the second recess extends and the central axis V of the intermediate member 409. The second straight line H2 along the direction in which the second recess extends extends perpendicular to a plane including the first straight line H1 along the direction in which the first recess extends and the central axis V of the intermediate member 409.

  The convex portion 407 of the first member 405 is formed so as to be able to fit into the second concave portion 410 of the intermediate member 409. In a state where the first member 405 and the intermediate member 409 are fitted, the intermediate member 409 is allowed to be displaced in the direction along the second straight line H2 with respect to the first member 405 when the first member 405 rotates around the axis. In this state, it rotates together with the first member 405. Further, the convex portion 408 of the second member 406 is formed so as to be able to fit into the first concave portion 411 of the intermediate member 409. In a state in which the second member 406 and the intermediate member 409 are fitted, the intermediate member 409 is allowed to displace in the direction along the first straight line H1 with respect to the second member 406 when the second member 406 rotates around the axis. In this state, it rotates together with the second member 406. As a result, the intermediate member 409 can connect the two shafts to the first member 401 even when there is a gap between the first member 405 and the second member 406. In this way, when the second member 406 rotates in a state where the first member 405 and the second member 406 are connected via the intermediate member 409, the intermediate member 409 is moved with respect to the first member 405 and the second member 406. By rotating with relative displacement, even if the axes of the first member 405 and the second member 406 are shifted, the rotation around the axis of the second member 406 is transmitted as the rotation around the axis of the first member 405. Can do.

  In this way, when the base 111 is fixed to the second shaft casing 147 using the Oldham coupling 197, the eccentricity generated by the output shaft 191 and the slide screw member 156 can be absorbed. Even if the outer diameter is small, a relatively large torque can be transmitted. Further, even when a gap is formed in the vertical direction between the output shaft 191 and the sliding screw member 156, power can be transmitted. In the present embodiment, the first member 405 and the second member 409 are made of an aluminum alloy, and the intermediate member 409 is realized by acetal resin or nylon resin. The Oldham coupling 197 is only required to absorb the eccentricity between the output shaft 191 and the sliding screw member 156, and the unevenness of the first member 405, the second member 406, and the intermediate member 409 is not limited to the above-described configuration.

  FIG. 9 is a perspective view showing the arm side connector 301 and the base side connector 300. The arm side connector 301 and the base side connector 300 are formed in a substantially cylindrical shape, and the outer peripheral portion 300a of the base side connector 300 is fitted into the inner peripheral portion 301a of the arm side connector 301, so that the arm side connector A terminal 303 of 301 is electrically connected to a terminal 302 of the base side connector 301. An outer screw is formed on the outer peripheral portion 300a of the base-side connector 301, and an inner screw is formed on the inner peripheral portion 301a of the arm-side connector, so that the connectors 300 and 301 can be screwed together. The connection of the connectors 300 and 301 can be ensured. Each connector 301 is provided with a seal member 304 that prevents a fluid from entering the terminal.

  The arm-side connector 301 is configured so that a waterproof cap 305 can be attached. The waterproof cap 305 is fitted into the inner peripheral portion 301 a of the arm side connector 301 to close the opening of the arm side connector 301. As a result, the arm side connector 301 is prevented from intruding into the internal space. Further, the outer peripheral portion of the waterproof cap 305 is formed with an external screw and is screwed into an inner screw formed on the inner peripheral portion of the arm-side connector 301, thereby securely connecting the arm-side connector 301 and the waterproof cap 305. It can be.

  By providing the arm side connector 301 and the base side connector 300 in this manner, the sterilization drive unit 120 and the power transmission unit 121 can be easily attached and detached even when the sterilization drive unit 120 is provided with electrical wiring. Can be done. In addition, when the sterilization drive unit 120 is separated from the power transmission unit 121 and a waterproof cap 305 is attached to the arm-side connector 301, steam enters the arm-side connector 301 when the sterilization drive unit 120 is sterilized at high temperature and high pressure. This can prevent the arm-side connector 301 and the arm-side wiring 114 from being damaged.

  FIG. 10 is a perspective view showing a state where the cover body 502 and the arm body 159 are separated. The sterilization drive unit 120 includes a cover body 502 that is configured to be detachable from the arm structure 130 and covers the surface of the arm structure 130. The cover body 502 is provided for each of the arm bodies 159 and 160, and shows a similar configuration. Therefore, the cover body 502 attached to the first arm body 159 will be described, and the description of the cover body attached to the second arm body 160 will be omitted.

  By attaching the cover body 502 to the first arm body 159, the first arm body 159 and the cover body 502 cover the third shaft electric motor M23, the bevel gear pairs 174 and 175, and the arm-side electric wiring 114. Thus, the first arm body 159 to which the cover body 502 is attached is formed in a shape having a small surface area and few irregularities. In the present embodiment, cover body 502 is formed in a box shape and is made of stainless steel.

  FIG. 11 is a cross-sectional view showing a part of a state where the cover body 502 is attached to the arm body 159. The arm body 159 and the cover body 502 are formed in a structure that allows easy removal of the cover body without using bolts or the like. In the present embodiment, a ball plunger 501 is embedded in the arm body 159.

  FIG. 12 is a cross-sectional view showing the ball plunger 501. The ball plunger 501 includes an elastic body, specifically, a compression coil spring 505 in the internal space 506. One end of the spring is provided with a ball 504 that is a protruding piece, and protrudes from the internal space 506. The protruding piece can be displaced in the direction of expansion and contraction of the spring. The ball plunger 501 is fixed to the arm body 159. Further, the cover body 502 is formed with a recess 503 at a position facing the tip of the ball plunger 501 in a mounted state.

  The cover body 502 is attached to the arm body 159 by fitting the tip end portion 504 of the ball plunger 501 and the recess 503 formed in the cover body 502. The ball plunger 501 is formed in a cylindrical shape, and an external screw is formed on the outer peripheral portion. The arm body 159 is formed with an internal thread into which the ball plunger 501 is screwed. In this way, by projecting or retracting the ball plunger 501 relative to the arm body 159, the protruding amount of the ball plunger can be changed and adjusted, and the cover body can be removed with an appropriate force. .

  In addition, according to the present embodiment, the cover body 502 is configured to be removable from the arm bodies 159 and 160, so that the arm body itself can be sterilized with the cover body 502 removed. Sterilization inside the sterilization drive unit 120 can be easily and reliably performed. In addition, by operating the tool 161 in the clean space 104 with the cover body 502 attached, it is possible to prevent germs from growing in the internal space of the sterilization driving unit 210. Further, by attaching the cover body 502 using the elastic restoring force of the elastic body, it is possible to easily attach and detach without using a bolt. Further, unevenness on the outer surface of the cover body 502 can be reduced.

  FIG. 13 is a flowchart showing a procedure for sterilizing the sterilization driving unit 120 at high temperature and high pressure. First, when the sterilization drive unit 120 is required to be sterilized in the state where the sterilization drive unit 120 and the power transmission unit 121 are assembled in step s0, the process proceeds to step s1, and the operator starts the sterilization operation.

  In step s1, the connection between the arm side connector 301 of the sterilization drive unit 120 and the board side connector 300 of the power transmission unit 121 is released, and the process proceeds to step s2. In step s2, the bolt 143 is removed, and the connection between the base portion 111 and the upper wall portion 181 of the second shaft casing 147 is released. When the sterilization drive unit 120 is removed from the power transmission unit 121 in this way, the process proceeds to step s3.

  In step s3, each cover body 502 attached to the arm bodies 159 and 160 is removed, and the process proceeds to step s4. In step s4, the waterproof cap 305 is attached to the arm-side connector 301, and the process proceeds to step s5. In step s5, the arm structure 130 is deformed into a shape that can be stored in the autoclave, and the sterilization drive unit 120 is stored in the autoclave. Next, sterilization is performed by maintaining the sterilization drive unit 120 in a high temperature and high pressure environment for a predetermined time. When the high-temperature and high-pressure sterilization is completed, the process proceeds to step s6. In step s6, the above-described operation steps s1 to s4 are performed in reverse, and the sterilization drive unit 120 is mounted on the power transmission unit 121. When the mounting is completed, the process proceeds to step s7. In step s7, the sterilization operation is terminated.

  As described above, according to the present embodiment, as described above, the sterilization driving unit 120 is separated from the power transmission unit 121, and is sterilized by high pressure and high temperature using an autoclave, so that only the hand 161 is sterilized. , The clean space can be made cleaner. In addition, as compared with the case where the entire robot is sterilized under high pressure and high temperature, it can be sterilized using a small autoclave. Moreover, in this Embodiment, the sterilization drive part 120 can be sterilized more reliably by removing the cover body 502 and sterilizing. Further, by attaching the waterproof cap 305 to the arm-side connector 301, damage to the connector and wiring can be prevented.

  FIG. 14 is a perspective view showing a part of a clean space robot 500 according to the second embodiment of the present invention. The robot 500 of the second embodiment of the present invention is different in the configuration of the arm structure 130 from the robot 140 of the first embodiment, and the remaining configuration is the same. Therefore, the description of the same configuration is omitted, and the same reference numerals are given. In the robot according to the second embodiment, the arm structure has a parallel link mechanism. The robot has a first arm mechanism 510 and a second arm mechanism 520.

  The first arm mechanism 510 includes two arm bodies 159a and 159b and a first joint portion 501 that connects them. The first joint portion 501 connects the second arm body 159b to the first arm body 159a so as to be angularly displaceable about the vertical first axis J11. In addition, the hand 161 is connected to the end of the second arm body 159b opposite to the connection portion of the first arm body 159a.

  The second arm mechanism 520 includes two arm bodies 160a and 160b, a second joint portion 502 that connects them, and a third joint portion 503. The second joint portion 502 connects the fourth arm body 160b to the third arm body 160a so as to be angularly displaceable about a vertical second axis J12. Further, the third joint portion 503 can angularly displace the second arm body 159b and the end of the fourth arm body 16b opposite to the connection portion of the fourth arm body 160a and the second arm body 159b around the vertical third axis J13. Connect to The first to third joint portions 501 to 503 passively angularly displace the arm.

  In addition, the end of the first arm body 159 a opposite to the connection portion of the second arm body 159 b is connected to the moving body 150 via the fourth joint portion 504. In addition, the third electric motor M23 is fixed to the moving body 150. The third electric motor M23 drives the first arm body 159a to be displaced about the vertical fourth axis J14 with respect to the moving body 150. Similarly, the end of the third arm body 160 a opposite to the connection portion of the fourth arm body 160 b is connected to the moving body 150 via the fifth joint portion 505. The fourth electric motor M23 is fixed to the moving body 150. The fourth electric motor M24 drives the third arm body 160a with respect to the moving body 150 by angular displacement around the vertical fourth axis J14. Each electric motor M23, M24 transmits power to the arm body via the speed reducer.

  By making the output shafts of the electric motors M23 and M24 and the axis for driving the arm body to be angularly displaced, the bevel gear pairs can be eliminated. Moreover, since an electric motor can be arrange | positioned at the support | pillar side, the gravity concerning each arm body 159a, 159b, 160a, 160b can be decreased. In addition, the electric motor that causes contamination can be moved away from the hand 161, and the possibility of contamination can be reduced and work can be performed in a clean space. Further, the electric motors M23 and M24 can be arranged vertically. In this case, the first to third indirect portions 501 to 503 are realized by a resin bearing made of a resin having hot water resistance and self-lubricating properties.

  FIG. 15 is a diagram illustrating a simplified link structure of the robot 500 according to the second embodiment. In the present embodiment, the vertical positions of the first to fourth arm bodies are shifted. Specifically, the first arm body 159a, the second arm body 159b, the third arm body 160a, and the fourth arm body 160b are arranged below in this order. This can prevent interference between the arm bodies 159a, 159b, 160a and 160b during operation. In addition, by appropriately setting the link length and the link length ratio of each arm body, it is possible to secure an operation area in a necessary area.

  FIG. 16 is a perspective view showing another coupling 297 that connects the output shaft 191 and the slide screw member 156. Although the Oldham coupling 197 is used in the first embodiment, other couplings and shaft couplings may be used as long as the output shaft 191 and the sliding screw member 156 can be detachably connected. For example, as shown in FIG. 16, the first member 505 fixed to one of the two shafts to be coupled includes a main body formed in a cylindrical shape, a main body that is perpendicular to the axis and passes through the axis. Pin 507 projecting from both sides. The second member 506 fixed to the other shaft is formed with a fitting portion 608 in which the main body of the first member 505 and the pin 507 are fitted. The fitting portion 508 prevents the second member from rotating about the axis with respect to the first member in a state where the first member 505 and the second member are arranged coaxially. Even if it is such a structure, the same effect can be acquired.

  The present embodiment as described above is merely an example of the present invention, and the configuration can be changed within the scope of the invention. For example, in the present embodiment, the clean space robot 140 is used in the culture system 100 for culturing an object. However, the robot 140 may be used in the clean space 104 and can be used for other purposes. In addition to cell culture work, it can also be used for medical work such as gene recombination work, food hygiene work, and surgical operation support work, and pharmaceutical manufacturing work.

  The robot 140 only needs to be separable into the sterilization drive unit 120 and the power transmission unit 121, and the specific arm structure, joint form, and the like are not limited to the present embodiment. For example, the drive source for driving the tool may not be an electric motor, but may be a drive source to which fluid power is applied. Further, instead of the hand 161, another end effector may be used. In the present embodiment, the power output end portion is provided with the first power output end portion and the second power output end portion, but the same effect can be obtained with either one. . There may be three or more power output ends. Furthermore, in the present embodiment, each power output end portion transmits power rotating around the axis, but may be other than rotational force. For example, a linear force that advances in the axial direction may be transmitted to the sterilization drive unit 120.

  The present invention also includes a clean space robot system including the space forming wall 103, the gas adjusting means 105, and the clean space robot 140. Even with such a clean space robot system, the same effect can be obtained. In the clean space robot system, the sterilization drive unit 120 is separated from the power transmission unit 121 and high-pressure high-temperature sterilization is performed. However, the robot system may be subjected to high-pressure high-temperature sterilization in a clean space. In this case, the gas adjusting means 105 adjusts the clean space to an atmosphere capable of high-pressure and high-temperature sterilization. Further, the sterilization driving unit 120 and the power transmission unit 121 may not be separable. Moreover, in this case, the connection part connected with the sterilization drive part 120 in the power transmission part 121 should just be the structure which has heat resistance.

It is a perspective view which decomposes | disassembles and shows the robot 140 for clean spaces which is 1st Embodiment of this invention. It is sectional drawing which shows the culture system 100 containing the robot 140 for clean spaces. 2 is a cross-sectional view showing a robot 140. FIG. 4 is an enlarged cross-sectional view showing a part of a sterilization drive unit 120. FIG. It is sectional drawing which cut | disconnects and shows the sterilization drive part 120 by the VV cut surface line of FIG. FIG. 4 is an enlarged cross-sectional view illustrating a part of a power transmission unit 121. It is sectional drawing which shows the state which isolate | separated the sterilization drive part 120 and the power transmission part 121. FIG. It is a perspective view which shows the coupling 197 which connects the output shaft 191 and the slide screw member 156. FIG. 2 is a perspective view showing an arm side connector 301 and a base side connector 300. FIG. It is a perspective view which shows the state which isolate | separated the cover body and the arm body. 6 is a cross-sectional view showing a part of a state where a cover body 502 is attached to an arm body 159. FIG. It is sectional drawing which shows the ball plunger. It is a flowchart which shows the procedure which carries out the high temperature / high pressure sterilization of the sterilization drive part 120. FIG. It is a perspective view which shows a part of robot 500 for clean space which is 2nd Embodiment of this invention. It is a figure which simplifies and shows the link structure of the robot 500 of 2nd Embodiment. It is a perspective view which shows the other coupling 297 which connects the output shaft 191 and the sliding screw member 156. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 104 Clean space 107 Space outside clean space 114 Arm side electric wiring 232 Base side electric wiring 120 Sterilization drive part 121 Power transmission part 130 Arm structure 181 Upper wall of 2nd axis casing 191 Output axis 140 of 2nd axis reduction gear Robot 144 Base 161 Hand 188 Sealing part 300 Base side connector 301 Arm side connector 305 Waterproof cap 502 Cover body

Claims (8)

A clean space robot that moves and moves the end effector in a clean space filled with a clean atmosphere gas,
A sterilization drive unit that is formed to be capable of high-temperature and high-pressure sterilization and that drives the end effector to be displaced;
A power transmission unit having a power output end to which the sterilization driving unit is detachably connected, and driving the power output end to transmit power to the sterilization driving unit;
An outer shell covering the power output end in the circumferential direction;
A clean space robot, comprising: a sealing portion that keeps the power output end portion drivable and closes a space inside the outer portion.   The sterilization drive unit includes an arm structure to which the end effector is coupled, and a cover body configured to be detachable from the arm structure and covering a surface of the arm structure. Clean space robot.   The sterilization drive unit has a sliding part in which two sliding parts slide relative to each other when the end effector is driven, and at least one of the two sliding parts has resistance to high-pressure and high-temperature steam. The clean space robot according to claim 1, wherein the robot is made of a resin having self-lubricating properties. The sterilization drive unit is provided with an arm side connector to which the arm side electric wiring is connected,
The outer part or the power output end is provided with a base side connector to which the base side electric wiring is connected,
The arm side connector is connected to the base side connector so that the arm side electrical wiring and the base side electrical wiring are electrically connected, and the connection with the base side connector is released. The robot for a clean space according to any one of claims 1 to 3, wherein a waterproof cap that seals that a fluid intrudes into the body is attachable.   The sterilization drive unit has a parallel link mechanism in which a plurality of arm mechanisms constituted by one or a plurality of arm bodies and joints are connected, and the drive source that drives each arm mechanism is located at a position away from the end effector. It is arrange | positioned, The robot for clean spaces as described in any one of Claims 1-4 characterized by the above-mentioned. A space forming wall that defines a clean space filled with a clean atmosphere gas; and
Gas adjusting means for keeping the atmosphere gas in the clean space clean;
A clean space robot that moves the end effector in a clean space,
A sterilization drive unit that is disposed in a clean space and is configured to be capable of high-temperature and high-pressure sterilization and that drives the end effector to be displaced;
A power transmission unit disposed outside the clean space, having a power output end to which the sterilization drive unit is connected, and transmitting power to the sterilization drive unit by driving the power output end;
An outer shell portion covering the power output end portion in the circumferential direction and having an outer peripheral portion covered by a space forming wall;
A clean space robot system comprising: a clean space robot including a sealing portion that keeps the power output end portion drivable and closes a space inside the outer portion.   The clean space robot system according to claim 6, wherein the sterilization drive unit and the power output end are detachably connected.   A culture system for culturing an object including the robot system for a clean space according to claim 6 or 7.

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