JP2008302490A - Frame for robot or the like - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a frame for a robot or the like made of aluminum alloy, which eliminates an adverse effect of a temperature rise generated by driving a motor. <P>SOLUTION: A first frame is provided with a groove along its length direction to an outer surface of a frame body made of aluminum alloy extruded material or the like, in which a heat pipe is provided. A second frame is provided with many fins along its length direction on an outer surface of the frame body made of aluminum alloy extruded material. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a frame for a robot or the like used for an arm or beam of a chip mounter (electronic component mounting apparatus) or other robot.

Industrial robots used for assembling and transporting components, and so-called robots such as electronic component mounting devices that mount chips on substrates, are in line with demands for higher density, miniaturization, and complexity of products produced by them. In addition to the demand for more precise movement, there is a need for higher speed operation.
A frame such as a beam to which an arm in a robot or a head in an electronic component mounting apparatus is attached requires a high-precision finished size due to the demand for the high-precision operation, and at the same time, the operation speed is further reduced. Therefore, it has been attempted to employ aluminum or an aluminum alloy (hereinafter referred to as “aluminum alloy or the like”) as the material of the frame material.

On the other hand, a motor is attached to the frame in order to operate them, and the motor is frequently started and stopped due to the high-speed operation, and an excessive load is applied to the motor and a large amount of heat is generated in continuous operation. Become. When the heat is transmitted to the frame by radiation or heat transfer, the frame expands due to the heat, so that the accuracy of component mounting or the like decreases.
Further, when the frame is locally heated and the temperature rises, thermal distortion may occur and the frame may be distorted. When heat is transmitted to the surroundings, the surrounding structure expands, and thermal distortion is also generated. This heat strain also reduces the accuracy of component mounting and the like.
Furthermore, when the frame becomes high temperature, there is no place for heat to escape from the motor, so the temperature of the motor itself rises, and there is a risk that it will not operate above the allowable temperature.

As a countermeasure to the above problem, first, a cooling vent is provided at an appropriate position on the outer peripheral wall of the frame (arm) incorporating the motor, and the air heated by the heat generated by the drive of the motor is partially cooled. Has been proposed to cool the motor by releasing the air from the outside and introducing the outside air into the frame through some other cooling vents to generate an air flow (see Patent Document 1).

However, in the countermeasures, the heat transmitted to the outer peripheral wall is not sufficiently diffused, and there is still a possibility that heat distortion occurs in the outer peripheral wall, and this increases the temperature of the motor. There is a risk of operation exceeding the allowable temperature.
Therefore, the use of aluminum alloy or the like for the frame as described above is presumed to be the countermeasure means according to the proposal. The adoption of aluminum alloys, etc. is not in practical use at the testing stage.

Secondly, as a countermeasure, a heat dissipating member having a plurality of fins is provided on the surface of the frame in the longitudinal direction, and heat from the frame main body partially heated by heat from the heat generating element is transmitted to the heat dissipating member. A means for radiating heat from the entire heat radiating member has been proposed (see Patent Document 2).
However, since the heat dissipation member is separate from the frame body, for example, it is only attached with a high thermal conductive adhesive, heat transfer to the heat dissipation member becomes worse due to the thermal resistance of the joint portion. Sufficient heat dissipation performance cannot be obtained.
There is also a problem that the number of parts increases due to the heat dissipating member and its attachment parts.

Third, as a countermeasure, heat conduction such as a heat lane (a heat pipe formed in a thin plate shape with a metal such as aluminum or copper) having a heat conductivity higher than that of the frame is used. A means has been proposed in which a member is attached and heat from the frame body, the temperature of which is partially increased by heat from the heating element, is transmitted to the heat conducting member, and is transmitted to the entire heat conducting member for a short time to dissipate heat (Patent Document). 3).
However, the mounting of the heat conductive member to the frame is exemplified by a method using a high heat conductive adhesive or fixing with a metal plate with high heat conductive grease in between. It is not easy to attach to the frame with sufficient thermal contact, and it takes time and effort.
Also, if both the heat dissipating member and the heat conducting member are to be attached at the same position, it is necessary to place them on the mounting surface in order or to be mounted side by side, but the former has two contact points before the heat is transferred to the fins. Therefore, thermal conductivity is inferior, and the latter cannot secure a sufficient surface area of the heat dissipation member.
JP 58-149195 A JP 2002-299896 A JP 2002-299898 A

An object of the present invention is to provide a technique that makes it possible to employ an aluminum alloy or the like for a frame for a robot or the like.
An object of the present invention is to provide a frame for a robot or the like made of an aluminum alloy or the like that can eliminate the influence of a temperature rise caused by driving of a motor.

  The first frame for a robot or the like according to the present invention has a groove formed along the length direction on the outer surface of the frame body made of an extruded shape of aluminum or aluminum alloy (hereinafter referred to as “aluminum alloy”). The most important feature is that the heat pipe is attached in an embedded manner.

The main feature of the second robot frame according to the present invention is that a large number of fins along the length direction are integrally formed on the outer surface of the frame body made of an extruded shape such as an aluminum alloy. Yes.

According to the first frame for a robot or the like according to the present invention, when the frame is partially heated by the heat equalizing action of the heat pipe attached along the length direction of the frame body, the heat is It is diffused so as to be more uniform over the entire length of the frame (entire) and is dissipated by the entire frame.
Also, taking advantage of the characteristics of the extruded shape, the groove part for attaching the heat pipe is formed at the same time when the frame body is extruded, so it is possible to give the groove shape without taking time and heat pipe into the groove. If it is attached so as to be embedded, it is easy to position, and even if a high heat conductive adhesive or high heat conductive grease is used, a sufficient heat contact state can be obtained.

According to the second frame for a robot or the like according to the present invention, even when the frame is partially heated by the numerous fins along the length direction of the frame body, the heat is efficiently radiated. Further, since the fin is formed integrally with the frame, not separately, there is no thermal resistance at the joint and the number of parts can be reduced.
Moreover, it is also easy to arrange | position the groove part and fin for heat pipe attachment in the same position as a flame | frame which combined 1st and 2nd invention. Thus, by making the heat pipe and the fin coexist at the same position, the space can be effectively used, and the heat radiation performance can be remarkably improved.

  In any of the above frames, it is possible to efficiently prevent a part of the frame from being kept in a high temperature state, and it is lighter in weight and is less affected by heat generated by a driving unit such as a motor. Can be provided.

First Embodiment FIG. 1 is an end view showing a first embodiment of a frame for a robot or the like according to the present invention.
The frame body 1 is a hollow extruded shape made of, for example, a 6000 series (Al-Mg-Si series) aluminum alloy excellent in extrudability, and has a square cross section of, for example, 200 × 200 mm and a length of about 500 to 1000 mm, An installation state on a robot or the like (not shown) (hereinafter simply referred to as “installation state”) has three rectangular hollow portions 1a in the vertical direction.
Accordingly, the horizontal wall portions 10 on the upper and lower sides of the outer periphery, the vertical wall portions 11 on the left and right sides, and the other vertical wall portions 11a and 11a for reinforcement located in the middle of the vertical wall portions 11 are integrated. Is formed.
The dimensions and cross-sectional shape of the frame body 1 are not limited to those described above, and various dimensions and cross-sectional shapes can be adopted in designing a robot or the like. Therefore, depending on the design, for example, each of the vertical wall portions 11a can be inclined in an eight-letter shape or an inverted eight-letter shape.

In the plate portions of the upper and lower horizontal wall portions 10, 10, two grooves 12 are formed in parallel along the length direction toward the outside, and heat pipes 13 are embedded in these grooves 12. Is attached.
Each heat pipe 13 has a circular cross section, but an oval shape with a flat cross section can also be used, and a groove or a capillary groove can be provided inside.

For example, the heat pipe 13 is preferably embedded in the groove 12 as shown in FIG. 9 or 10.
FIG. 9A is a view in which the heat pipe 13 is fixed in the groove 12 in a state in which a gap between the inner wall surface of the groove 12 and the heat pipe 13 is filled with an adhesive or heat conductive grease 16.
In FIG. 9B, the heat pipe 13 is pressed and fixed into the groove portion 12 by the cover plate 17, and the cover plate 17 is fixed to the surface of the horizontal wall portion 10 by other means.
10 (c), after the heat pipe 13 has been pushed into the groove 12 as shown in FIG. 10 (c), crimps 18 are formed on both side edges of the groove 12 by the press 2, and (d) the heat pipe 13 is attached as shown in FIG. It has been crimped into the groove 12.

According to the frame of the first embodiment, when a part of the frame body 1 in the length direction is heated by driving a motor (not shown), the heat is transported by the phase change of the working fluid in the heat pipe 13. Then, it is dispersed and soaked over the entire length of the frame 1 and is released into the atmosphere by the entire length of the frame 1.
Accordingly, it is possible to effectively prevent the state in which a part of the frame main body 1 is kept at a high temperature from being sustained or even higher, and it is lighter and more influenced by the heat generated by the driving unit such as a motor. A small frame can be provided.
In addition, in the frame of this embodiment, it is more preferable that the heat input portion is installed in a state of being located around the heat pipe 13 because the operating efficiency of the heat pipe 13 becomes good.

Second Embodiment FIG. 2 is an end view showing a second embodiment of a frame for a robot or the like according to the present invention.
In this embodiment, a groove portion 12 is formed at each intersection between the upper and lower horizontal wall portions 10 and 10 of the frame body 1 and the reinforcing vertical wall portions 11a and 11a. The heat pipe 13 is fixed in the same manner as in the first embodiment. The intersecting portion of the wall portion is not a right-angled intersection portion, and there may be an intersection portion of a predetermined angle other than a right angle, and there may be not only an intersection portion of two wall portions but also an intersection portion where three or more wall portions intersect. .
In the frame of this embodiment, the groove portion 12 for attaching the heat pipe 13 is formed at the intersection of each horizontal wall portion 10 where more material meat is gathered and each vertical wall portion 11a, 11a for reinforcement. Therefore, the weight increase due to the formation of the groove 12 is small as compared with the frame 1 of the first embodiment. Further, the intersecting portions are reinforced by the corresponding groove portions 12.
Other configurations and operational effects in the frame of the second embodiment are substantially the same as those of the first embodiment, and thus their description is omitted.

Third Embodiment FIG. 3 is an end view showing a third embodiment of a frame for a robot or the like according to the present invention, and FIG. 4 is a side view showing the frame of FIG. 3 in a reduced scale.
In this embodiment, thick wall portions 11b that are thicker than the other portions are respectively formed on the vertical wall portions 11, 11 on both sides of the frame body 1, and the groove portions 12 are inclined by cutting the outer surface of each thick wall portion 11b. The flat heat pipe 13 is embedded and fixed to each groove portion. Accordingly, two heat pipes 13 are attached to one frame 1.

In the frame of this embodiment, since the heat pipe 13 is inclined with respect to the horizontal frame main body 1, the frame main body 1 is in a state where a heat-generating component such as a motor (not shown) is in contact with the tip-down end portion of the heat pipe 13. And the heat pipe 13 is set to the bottom heat operating state. Thereby, since the heat pipe 13 will be in an optimal installation state, the same heat dissipation effect can be acquired with fewer heat pipes 13.
Other configurations and functions and effects in the frame of the third embodiment are substantially the same as those of the first embodiment, and a description thereof will be omitted.

Fourth Embodiment FIG. 5 is a cross-sectional view showing a fourth embodiment of a frame for a robot or the like according to the present invention, and FIG. 6 is a side view showing the frame of FIG.
In this embodiment, each heat pipe 13 is formed at the intersection of the upper and lower horizontal wall portions 10, 10 of the frame body 1 and the reinforcing vertical wall portions 11a, 11a, as in the embodiment of FIG. Each groove 12 is fixed in an embedded manner.
Each of the reinforcing vertical wall portions 11a, 11a is vertically separated by a central reinforcing horizontal wall portion 10a, and the frame 1 made of a hollow extruded shape is composed of six hollow portions 1a as a whole. ing.

The vertical wall 11 on one side and the vertical wall 11a adjacent thereto, and the vertical wall 11 on the other side and the vertical wall 11a adjacent thereto on the central horizontal wall 10a. A large number of vent holes 14 are formed at regular intervals in the upper and lower portions separated by.
In this embodiment, the air holes 14 in the upper and lower rows of the air holes 14 are alternately arranged in a zigzag shape as shown in FIG. 6, and the air holes 14 on both sides in the upper and lower sides are also arranged in the air holes. 14 are alternately arranged on the zigzag.

According to the frame of this embodiment, the heat of the heat input portion is further radiated by the heat equalization by the heat pipes 13 and the heat radiation of the frame body 1 itself and the replacement of the air inside the hollow portion by the air holes 14. improves. Further, due to the zigzag arrangement after the air holes 14 layers, the air that has entered the side hollow portion 1a from one side moves in the length direction at the central hollow portion 1a, and the other side hollow Since it flows to the outside of the other side through the portion 1a, the heat confined in the hollow portion can be efficiently discharged to the outside.
When the frame of this embodiment operates with a predetermined stroke to the left and right in the state of FIG. 5, the heat dissipation efficiency by each vent hole 14 is further improved.
Other configurations and operational effects of this embodiment are substantially the same as those in the frame of the second embodiment, and therefore their description is omitted.

Fifth Embodiment FIG. 7 is an end view showing a fifth embodiment of a frame for robots or the like according to the present invention.
In this embodiment, the structure of the frame main body 1 and the arrangement of the four heat pipes 13 are the same as those of the frame of the second embodiment (FIG. 2), but the upper horizontal wall 10 and each side portion are arranged. A large number of fins 15 are formed in parallel along the length direction on the outer surface of the upper region in the half in the height direction of the vertical walls 11, 11.
According to the frame of this embodiment, the heat dissipation effect is further improved by the diffusion of heat in the length direction of the frame 1 due to the soaking action of each heat pipe 3 and the heat dissipation by the numerous fins 15. Further, since the heat pipe and the fin can be installed on the same surface, the heat radiation effect is particularly improved.
Since the other structures and operational effects of the frame in this embodiment are almost the same as those of the second embodiment, description thereof will be omitted.

Sixth Embodiment FIG. 8 is a sectional view showing a sixth embodiment of a frame for robots or the like according to the present invention.
In this embodiment, the configuration of the frame main body 1 and the arrangement of the four heat pipes 13 and the arrangement relationship of the vent holes 14 are the same as those of the frame of the fourth embodiment (FIGS. 5 and 6). A large number of fins 15 are formed in parallel along the length direction on the outer surface of the horizontal wall portion 10 and the vertical regions 11 and 11 of the side portions in the upper half of the height direction.
According to the frame 1 of this embodiment, the diffusion of heat in the length direction of the frame 1 due to the soaking action of the heat pipes 3, the heat radiation by the numerous fins 15, and the hollow portions by the numerous vent holes 14. By replacing the air in 1a, the heat dissipation effect is further improved.
Since the other structures and operational effects of the frame in this embodiment are almost the same as those of the fourth embodiment, description thereof will be omitted.

Seventh Embodiment FIG. 11 is an end view showing a seventh embodiment of a frame for a robot or the like according to the present invention.
In this embodiment, the frame main body 1 is an extruded shape such as an aluminum alloy, and the interior of the frame main body 1 is vertically divided by the reinforcing horizontal wall portions 10a and the vertical wall portions 11a arranged in a cross shape. It is divided into individual hollow parts 1a.
A large number of fins 15 are formed in parallel along the length direction on the outer surface of the upper horizontal wall portion 10 and the upper region in the height direction half of the vertical wall portions 11 and 11 of each side portion.
According to the frame of this embodiment, even when the frame is partially heated, the heat is efficiently dissipated by the diffusion of heat into the atmosphere by the numerous fins 15.
Therefore, it is possible to efficiently prevent the state in which a part of the frame main body 1 is at a high temperature from being sustained, and to provide a frame that is lighter and less affected by heat generated by a driving unit such as a motor. it can.

Eighth Embodiment FIG. 12 is a cross-sectional view showing an eighth embodiment of a frame for a robot or the like according to the present invention.
The frame of this embodiment includes the upper and lower portions of the vertical wall portions 11, 11 on both sides of the frame of the seventh embodiment (FIG. 11), the left and right positions of the reinforcing horizontal wall portion 10a, and the lower horizontal wall. In the left and right positions of the portion 10, the vent holes 14 are formed in a row.
Compared with the frame of the seventh embodiment, the frame of this embodiment is more effective in heat dissipation due to the heat generated by the large number of fins 15 and the replacement of air in the four hollow portions 1a by the large number of air holes 14. improves.
Other configurations and operational effects of the frame of this embodiment are substantially the same as those of the frame of the seventh embodiment, and thus description thereof is omitted.

Sample frames (wall thickness 4 mm, total length 500 mm, round heat pipe diameter 6 mm, flat heat pipe diameter 2 × 8 mm) of Examples 1 to 8 and Comparative Examples 1 and 2 described below by the extruded shape of JIS 6063 T5 material. A heat input test was performed under the test conditions described later, the surface temperature in the frame length direction was measured, the maximum temperature and the minimum temperature were recorded, and the temperature difference between the two was determined.
The results are shown in Table 1.
In Table 1, the lower the maximum temperature and the smaller the temperature difference, the less the influence of heat, the higher the accuracy of the frame.

Example 1: Configuration Example 2 in FIG. 1: Configuration Example 3 in FIG. 2: Configuration Example 4 in FIG. 3: Horizontally arranged heat pipe of the frame in FIG. 3 Example 5: Configuration Example in FIG. 6: Configuration Example 7 of FIGS. 5 and 6: Configuration Example 8 of FIG. 7: Configuration Comparison Example 1 of FIG. 8: Excluding the heat pipe of the frame of FIG. 5 Comparative Example 2: Heat pipe of the frame of FIG. Excluding

Test condition Heat input condition: A heater (30 W) was brought into contact with one end face of the frame, and the outer surface of the heater other than the contact portion was thermally insulated.
Installation state: The frame was installed in the posture shown in each embodiment, and the longitudinal direction was horizontal.
Temperature measurement: The maximum temperature and the minimum temperature at both ends of the frame were measured with a thermocouple, and the temperature was increased from the ambient temperature for comparative evaluation.
Others: 2m / s wind speed over the entire frame (simulating the frame condition during operation)

Table 1

  According to the result of Table 1, the sample frame of each Example showed a significant difference with respect to Comparative Examples 1 and 2 in the temperature difference.

1 is an end view showing a first embodiment of a frame for a robot or the like according to the present invention. It is an end view which shows 2nd Embodiment of the frame for robots which concerns on this invention. It is an end view which shows 3rd Embodiment of the frame for robots which concerns on this invention. FIG. 4 is a side view showing the frame of FIG. 3 in a reduced scale. It is sectional drawing which shows 4th Embodiment of the frames for robots etc. which concern on this invention. It is the side view which reduced and showed the flame | frame of FIG. It is an end view which shows 5th Embodiment of the frame for robots which concerns on this invention. It is sectional drawing which shows 6th Embodiment of the frame for robots etc. which concerns on this invention. FIG. 9A is a partially enlarged cross-sectional view showing an example of the heat pipe attachment procedure, and FIG. 9B is a partial enlarged cross-sectional view showing another example of the heat pipe attachment procedure. It is a partial expanded sectional view which shows the further another example of the attachment procedure of a heat pipe, (c) shows the 1st step, (d) The figure shows the fixed state. It is an end view which shows 7th Embodiment of the frames for robots etc. which concern on this invention. It is sectional drawing which shows 8th Embodiment of the frames for robots etc. which concern on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Frame main body 1a Hollow part 10, 10a Horizontal wall part 11, 11a Longitudinal wall part 12 Groove part 13 Heat pipe 14 Ventilation hole 15 Fin 16 Adhesive or heat conductive grease 17 Cover plate 18 Caulking part

Claims (9)

A heat pipe is embedded in a groove formed along the length direction on the outer surface of the frame body made of an extruded shape of aluminum or aluminum alloy (hereinafter referred to as “aluminum alloy”). A feature frame for robots. The frame for a robot or the like according to claim 1, wherein when the installation state is horizontal, the heat pipe is attached in an inclined manner so that the heat pipe faces the side of the frame body. The frame body has a horizontal or vertical wall portion and another wall portion intersecting at a right angle or a predetermined angle with respect to the horizontal wall portion, and the heat pipe is attached to an intersection portion of both wall portions, The frame for a robot or the like according to claim 1. The frame for a robot or the like according to any one of claims 1 to 3, wherein a large number of fins along the length direction are integrally formed on an outer surface of the frame body. Extrusion of aluminum alloy or the like; A frame for robots or the like, wherein a large number of fins along the length direction are integrally formed on the outer surface of a frame body made of a shape member. The frame for a robot or the like according to any one of claims 1 to 5, wherein a large number of ventilation holes are formed in the frame body. The frame for a robot or the like according to claim 6, wherein the frame main body has at least one hollow portion, and the air hole is formed so that air blows from one side to the other side in the installed state. The vent hole formed in the vertical wall portion on one side of the hollow portion and the vent hole formed on the vertical wall portion on the other side are displaced with respect to the length direction. The frame for robots described in 1. The frame for a robot or the like according to claim 8, wherein a vent hole is formed in the lower or upper horizontal wall portion in the installed state.