JP2010142904A - Revolving arm with heat radiation function and horizontal articulated robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a revolving arm with a heat radiation function having a function of efficiently radiating heat transmitted from a heating body such as a motor without interfering with revolving movement of the arm, and also to provide a horizontal articulated robot with the revolving arm. <P>SOLUTION: The revolving arm with a heat radiation function having a function of radiating heat transmitted to a box body 20 of the arm made of thermally conductive material revolving around an axial center C2 as a rotational axis, is provided with a plurality of radiating fins 20F composed of protrusions not in parallel to a revolving path of the box body 20 of the arm, which are formed on a side face part 20S facing the revolving direction. Each of the radiating fins 20F is formed to have a length H2 shorter than a length H1 of the box body in the vertical direction. Between a top board 23 and an upper end F2 of the radiating fin 20F, there is a passage for passing air, whose height is a passage width H3, in the direction crossing the protrusion direction of each of the protrusions. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a swivel arm with a heat dissipating function, which is employed in an industrial machine having an arm that is swiveled and has a function of dissipating heat transmitted from a heating element, and a horizontal articulated type including the swivel arm. Regarding robots.

  As the industrial machine, especially an industrial robot, a robot in which a plurality of arms are connected in a turnable manner such as a vertical articulated robot and a horizontal articulated robot (SCARA robot) is often used. These robots move their arms with respect to the base by turning movement based on changing the arm to an appropriate angle with respect to the support part such as another arm supported via the connecting part. Relative movement.

  On the other hand, in recent years, in order to meet the demand for improvement in productivity, such robots are required to increase the operation speed and shorten the non-operation time while maintaining high positioning accuracy. Therefore, it is possible to improve the operation performance such as increasing the rotation speed of the motor by increasing the rotation speed of the motor, or increasing the operating time of the motor per unit time in order to shorten the non-operating time. Ingenuity has been sought, such as moving frequently.

  However, an increase in the rotational speed of the motor increases the amount of heat generated by the motor, and an extension of the operation time of the motor leads to an increase in the amount of heat generated per unit time and a shortening of the cooling time. In other words, the temperature of the motor rises rapidly, and the temperature rise exceeds the natural cooling capacity, so that it exceeds the predetermined temperature range set in advance to maintain the performance and life of the motor. It becomes easy. And when it exceeds the predetermined temperature range in this way, it is not preferable to continue driving the motor as it is, so that it is necessary to reduce the temperature, eventually reducing the rotational speed or extending the stop time Thus, the operation performance of the motor, and thus the turning speed and the number of movements of the arm are regulated. Furthermore, the arm expands slightly due to the temperature rise, but if the temperature rise occurs locally in the vicinity of the motor etc., the stress concentrates on only a part of the arm and the entire arm is bent, making it difficult to predict This also causes a decrease in positioning accuracy.

Therefore, conventionally, as seen in Patent Document 1, for example, industrial temperature in which the temperature rise of the motor itself is suppressed in order to suppress the restriction on the turning speed and the number of movements while maintaining the positioning accuracy of the arm. Robots have also been proposed. In this industrial robot, an aluminum pipe is wound around a motor as a drive source installed on the arm, and the motor is cooled by compressed air distributed in the aluminum pipe. As a result, the motor is efficiently and reliably cooled, and the restriction of the swing speed and the number of movements of the arm and the unpredictable deformation caused by the temperature rise of the motor are suppressed.
JP 2008-6535 A

By the way, in the industrial robot as described in Patent Document 1, since the aluminum pipe is arranged between the arms around which the connecting portion (joint portion) rotates, the arm including the connecting portion has the structure. The structure becomes complicated, and the rotation of the connecting portion may be restricted by the pipe. In addition, since a pipe for cooling the motor and an air circuit for supplying compressed air to the pipe are provided, the maintenance burden as an industrial robot increases and the number of parts constituting the air circuit increases. Along with this, the decline in the reliability of the industrial robot cannot be ignored.

  The present invention has been made in order to solve the above-mentioned problems, and its purpose is to provide a heat dissipation function having a function of efficiently dissipating heat transmitted from a heating element such as a motor without hindering the rotational movement of the arm. To provide a swivel arm and a horizontal articulated robot including the swivel arm.

  The swivel arm with a heat radiation function of the present invention has a function of radiating heat transmitted to an arm made of a heat conductive material that swivels around a rotation axis, and the arm has its swivel function. A plurality of heat dissipating fins comprising protrusions that are not parallel to the trajectory of the arm are provided on the side surface facing the moving direction, and air is circulated through the heat dissipating fins in a direction that intersects the protrusion direction of the protrusions. The gist is that a flow passage is provided.

  According to such a configuration, the atmosphere (air) flows in the length direction of the arm along the flow path by the flow path of the radiating fin provided on the protrusion on the side surface in the movement direction facing the turning movement direction of the arm. Will come to be. Thereby, when there is no radiation fin, the flow of the atmosphere (air) which only escapes so that it may slip on the surface of an arm is caught by a radiation fin, and the cooling efficiency of an arm is raised. In other words, the arm to which heat generated by a heating element such as a motor is transmitted is forced to circulate through the radiating fin due to the swiveling movement, so that the amount of radiated heat is increased and the temperature rise of the arm is suppressed. become.

  In addition, the amount of air flowing through the surface in the direction of the swivel movement changes depending on the distance (length) from the rotation axis (base end side) of the arm that moves in the swivel direction, and a difference in atmospheric pressure occurs on the same surface. Due to the flow path of the heat dissipating fins, air flows from a relatively high pressure to a low pressure. For example, in the front in the turning direction, air flows in the proximal direction from the distal end side where the atmospheric pressure is relatively higher than the proximal end side due to the relatively high moving speed through the same flow path from the distal end side. The air flow on the proximal side with less air flow is increased. Further, even in the back of the turning direction, air from the proximal direction flows through the flow passage to the distal end side where the atmospheric pressure is relatively low due to the relatively high moving speed, and at this time also the proximal end Side air flow is increased. This increases the heat flow of the entire arm by increasing the air flow at the base end of the arm with a relatively small air flow rate, thereby suppressing the temperature increase of the entire arm and increasing the temperature when the temperature is increased. By slowing down the rate, heat is diffused to the arms to suppress local temperature rise. As a result, it is possible to prevent the motor temperature from exceeding a predetermined temperature range and to limit the so-called operation performance such as the rotation speed and operation time, and to limit the high-speed movement and the number of movements of the arm. Occurrence of this is suppressed.

  Furthermore, since the temperature rise of the arm is slowed down, the local temperature rise is suppressed, and the local expansion caused by the local temperature rise causes an unpredictable curve or deflection in the arm, and the proximal end and the distal end It is also possible to suppress the relative positional relationship of the lens from being shifted indefinitely, and to suppress a decrease in the positioning accuracy of the arm tip.

  In the swivel type arm with a heat radiation function, a cover that includes the side surface and surrounds the plurality of heat radiation fins is provided on the side surface facing the swivel movement direction of the arm. A space is formed in between, and in at least one direction from the space of the arm to the axial direction of the rotary shaft, a convex portion that is in contact with a side surface facing the turning movement direction in a state of protruding from the space. The gist is that it is further provided.

A space that includes a plurality of heat radiation fins is formed between the cover and a cover that surrounds the plurality of heat radiation fins on the side surface in the movement direction of the arm. Convex parts are formed. According to such a configuration, when the arm turns, a pressure is applied or reduced to the air by the convex portion, and the pressurized or depressurized air communicates with the convex portion through the side surface in the moving direction. Is transmitted in. As a result, air in the space flows, and heat dissipation from the arm through the radiation fins is promoted.

  Further, the cover allows the air flowing in from the one end side of the cover to flow along the radiation fins until it flows out from the other end side of the cover, so that the heat radiation from the radiation fins is performed efficiently. Further, by surrounding the radiating fin with the cover, noise such as a cold sound generated when the radiating fin directly cuts air is reduced. Further, since the radiating fin is not exposed to the outside, the aesthetic appearance of the arm is maintained, and it is possible to prevent the member or the wiring from being caught by the unevenness formed on the arm surface by the radiating fin. . Further, when the convex portion is formed on the arm, it contributes to a reduction in the number of components, and when it is separately formed and attached, it can be reduced in weight or appropriately changed according to the air flow. In addition, the degree of freedom of the convex portion in the arm is increased.

  The gist of this swivel type arm with a heat radiation function is that the flow paths provided in the plurality of heat radiation fins are respectively provided in a manner along one side of the side of the arm facing the swivel movement direction.

  According to such a configuration, the flow path of the radiating fin is continuously formed in a straight line from the proximal end to the distal end of the arm on the side surface in the swiveling direction of the arm, and the air is quickly circulated through the flow path. The flow rate of air to the radiating fin on the side is increased. As a result, heat dissipation from the arm is favorably performed.

The gist of this swivel type arm with a heat radiation function is that the flow passages provided in the heat radiation fins are provided in a manner of notching the middle of each protrusion constituting the heat radiation fins.
According to such a configuration, on the side surface in the movement direction of the arm, the flow path in the middle of each radiating fin forms an air flow path from the base end to the front end of the arm, and the air flows along this flow path. The air flows to the base end side and increases in flow rate. As a result, heat dissipation from the arm is more suitably performed.

  In the swivel arm with a heat radiation function, the flow path provided in a manner of notching the middle of each protrusion constituting the heat radiation fin has a notch position with respect to the axial direction of the rotating shaft for each adjacent protrusion. This is the gist.

  According to such a configuration, the flow passages formed in the heat radiating fins are arranged obliquely or in a staggered manner in the arm length direction, and the air flows along the flow passages so that the arms It flows in the length direction. As a result, the air flowing through the flow path also radiates heat from the heat radiating fins, and heat radiated from the arm is more suitably performed.

The gist of this swivel type arm with a heat radiation function is that each protrusion constituting the heat radiation fin is integrally formed on a side surface of the arm facing the swivel movement direction.
According to such a configuration, the heat of the arm is efficiently transmitted to the radiating fin and radiated without reducing the thermal conductivity between the arm and the radiating fin.

  In this swivel-type arm with a heat dissipation function, the cover has a sealing portion in which one end surface of the rotating shaft in the axial direction is connected to the arm, and the space includes the plurality of heat dissipation fins and their flow paths. The gist is that one end surface of the sealed portion is sealed in the included state.

  According to such a configuration, even when the space is sealed at one end by a simple cover that covers the arm like a lid, the arm is pivoted and moved between the radiating fins through the flow passages of the radiating fins. Air is circulated, and heat is released through the radiation fins.

The gist of this swivel-type arm with a heat dissipation function is that a plurality of ventilation holes communicating with the space are formed in the blocking portion.
According to such a configuration, even if the space is sealed at one end by a simple cover that covers the arm like a lid, the air hole communicates with the space formed in the sealed portion. The air can flow through the vent. That is, when the arm turns, air flows between the heat radiating fins through the flow passages of the heat radiating fins. As a result, the air in the space is circulated and the heat radiation through the heat radiation fins is suitably performed.

  The horizontal articulated robot of the present invention is a horizontal articulated robot in which a plurality of arms are horizontally connected via a rotation axis, and at least one of the plurality of arms has the heat dissipation function described above. The gist of the invention is to have an attached swivel arm.

  According to such a configuration, in the arm of the horizontal articulated robot, the atmosphere (air) flows in the same flow path by the flow path of the radiating fin provided on the protrusion on the side surface in the movement direction facing the turning direction of the arm. Along the length of the arm. Thereby, when there is no radiation fin, the flow of the atmosphere (air) which only escapes so that it may slip on the surface of an arm is caught by a radiation fin, and the cooling efficiency of an arm is raised. In other words, the arm to which heat generated by a heating element such as a motor is transmitted is forced to circulate through the radiating fin due to the swiveling movement, so that the amount of radiated heat is increased and the temperature rise of the arm is suppressed. become.

  In addition, the amount of air flowing on the surface in the swivel movement direction changes depending on the distance from the rotation axis of the arm that swivels, and a difference in atmospheric pressure also occurs. A flow that flows from higher to lower is formed. For example, in the front in the turning direction, air flows in the proximal direction through the same flow passage from the tip side where the atmospheric pressure is relatively high due to the relatively high moving speed, and the air flow is more than the tip. Increases less proximal airflow. Further, even in the back of the turning direction, air from the proximal direction flows through the flow passage to the distal end side where the atmospheric pressure is relatively low due to the relatively high moving speed, and at this time also the proximal end Side air flow is increased. This increases the heat flow of the entire arm by increasing the air flow at the base end of the arm with a relatively small air flow rate, thereby suppressing the temperature increase of the entire arm and increasing the temperature when the temperature is increased. By slowing down the rate, heat is diffused to the arms to suppress local temperature rise. As a result, it is possible to prevent the motor temperature from exceeding a predetermined temperature range and to limit the so-called operation performance such as the rotation speed and operation time, and to limit the high-speed movement and the number of movements of the arm. Is suppressed, and high-speed movement and the number of movements as a horizontal articulated robot are suppressed.

  Furthermore, since the temperature rise of the arm is slowed down, the local temperature rise is suppressed, and the local expansion caused by the local temperature rise causes an unpredictable curve or deflection in the arm, and the proximal end and the distal end The relative positional relationship between the horizontal articulated robot and the horizontal articulated robot is also prevented from deteriorating in positioning accuracy.

(First embodiment)
DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of a horizontal articulated robot including an arm in which a turning arm with a heat radiation function according to the present invention is embodied will be described with reference to the drawings.

FIG. 1 is a perspective view showing an overall perspective structure of a horizontal articulated robot (robot) 10.
As shown in FIG. 1, the robot 10 has a base 11 installed on a floor surface or the like, and a base end portion of a first arm 13 is attached to a rotary shaft 12 rotatably provided at an upper end portion thereof. Connected and fixed. The rotation shaft 12 is rotated about the axis C <b> 1 with respect to the base 11 by rotating forward and backward with a first motor M <b> 1 provided in the base 11 at the base end. Yes. Accordingly, the first arm 13 rotates in the horizontal direction with respect to the base 11 around the axis C <b> 1 of the rotating shaft 12, that is, horizontally rotates.

  The support shaft 14 provided at the distal end portion of the first arm 13 supports the second arm 15 in a rotatable manner by disposing the distal end thereof within the proximal end portion of the second arm 15. The second arm 15 has a second motor M2 fixed to a base end portion thereof, and an output shaft of the second motor M2 is connected to a distal end of the support shaft 14 through a gear or the like. As a result, the second arm 15 rotates the support shaft 14 forward and backward by the rotation of the second motor M2, so that the first arm 15 rotates about the axis C2 by the reaction force that rotates the support shaft 14 forward and backward. It rotates in the horizontal direction with respect to the arm 13, that is, rotates horizontally.

  A vertical rotation shaft cylinder 15 </ b> A is provided at the tip of the second arm 15. The vertical rotation shaft cylinder 15A supports the vertical rotation shaft 16 so as to be rotatable and movable in the vertical direction. The vertical rotary shaft 16 is rotated forward and backward about its own axis C3 by forward and reverse rotation of a rotary motor M3 provided in the second arm 15. Further, the vertical rotation shaft 16 is moved up and down in the vertical direction by forward and reverse rotation of a lifting motor M4 provided in the second arm 15. A tool, for example, a hand for gripping a workpiece or a hand for processing a workpiece can be attached to the lower end portion 17 of the vertical rotation shaft 16. And the robot 10 conveys components or processes components with each tool attached to the lower end part 17.

  Next, the structure of the second arm 15 will be described with reference to FIGS. 2 is a perspective view showing a lower structure of the second arm 15, FIG. 3 is a cross-sectional view showing a cross-sectional structure taken along line 3-3 in FIG. 2, and FIG. 4 is a detailed view of the housing of the second arm. It is a figure which shows a structure, (a) is a top view which shows a top structure, (b) is a front view which shows a front structure, (c) is a side view which shows a side structure.

  As shown in FIG. 2, the second arm 15 has a casing 20 having a high rigidity extending in the horizontal direction of the second arm 15 at a lower portion thereof, covers the casing 20 from above, and is fitted into the casing 20. And a cover 21 made of a resin material to be joined. As shown in FIGS. 2 and 3, the housing 20 is formed as a substantially rectangular box-shaped casting. A pair of front and rear shaft holes 22A and 22B are formed in the bottom plate 22 of the housing 20, the tip of the support shaft 14 is inserted into the shaft hole 22A, and the vertical rotation shaft 16 is inserted into the coaxial hole 22B. The Between the pair of shaft holes 22 </ b> A and 22 </ b> B in the bottom plate 22, a trapezoidal convex portion 29 made of a resin material is provided in a manner protruding downward from the bottom plate 22. The convex portion 29 has a left side surface 29L facing the left side turning movement direction (front side in FIG. 2) from the base end portion, which is the length direction of the second arm 15, toward the distal end portion. It has a right side surface 29R that faces in the right turning movement direction (the back side in FIG. 2).

The housing 20 has a top plate 23 as an upper surface facing the bottom plate 22. The top plate 23 is formed with a bearing 23A that rotatably supports the tip of the support shaft 14 at a position opposed to the shaft hole 22A, and the vertical rotation is performed at a position facing the shaft hole 22B. A bearing (not shown) that supports the shaft 16 so as to be rotatable and vertically movable is formed. That is, the housing 20 supports the support shaft 14 with the bearing 23A of the top plate 23 through the shaft hole 22A of the bottom plate 22,
The first arm 13 is connected to the first arm 13 so as to extend in the horizontal direction.

  A second motor M2 is fixed to the upper portion of the bearing 23A by a bolt or the like (not shown) via a flange 24F fixed to the main body 24A. That is, the main body 24A of the second motor M2 is fixed to the housing 20 via the flange 24F, and the output shaft thereof is rotatable with respect to the housing 20. The main body 24A of the second motor M2 and its flange 24F are made of a material having high thermal conductivity such as metal. The amount of heat generated by the driving of the second motor M2 is determined by the bearing 23A and the housing through the flange 24F. Transmitted to the body 20. The amount of heat transmitted to the housing 20 is transmitted from the periphery of the bearing 23 </ b> A of the top plate 23 to the tip portion, the side surface portion 20 </ b> S of the top plate 23, and further to the bottom plate 22, that is, diffused throughout the housing 20. In addition to the second motor M2, the top plate 23 is provided with a rotation motor M3, a lifting motor M4, and a heating element such as an electric circuit or a mechanical structure (not shown), and the amount of heat transmitted from them to the top plate 23. Further, while being transmitted to the top plate 23, the side surface portion 20 </ b> S, and further to the bottom plate 22, it is diffused throughout the housing 20. The amount of heat transferred to the case 20 is reduced in the case 20 by natural heat dissipation from the surface of each part to which it is transferred. However, in natural heat dissipation, the heat dissipation amount is limited by the temperature and shape of the housing 20 and the flow rate of air flowing around it, and the amount of heat transmitted from the heating element such as the second motor M2 to the housing 20 is limited. If it is greater than the amount of heat released, the amount of heat is accumulated in the housing 20. When the temperature of the housing 20 increases as the amount of heat accumulates, the amount of heat transferred to the housing 20 from the second motor M2 or the like having a small temperature difference from the housing 20 is reduced. As a result, the amount of heat is also accumulated in the second motor M2 and the like, and the temperature thereof is increased.

  The housing 20 has a side surface portion 20 </ b> S facing the turning movement direction of the second arm 15. The side surface portion 20S includes a left side surface portion SL (see FIG. 4A) facing the left side turning direction (right side in FIG. 3) from the proximal end portion of the second arm 15 toward the distal end portion, and the second arm. 15 has a right side SR facing the rightward turning movement direction (left side in FIG. 3) from the base end toward the tip. As shown in FIG. 4, the side surface portion 20 </ b> S is formed with a plurality of protruding heat radiation fins 20 </ b> F extending in the axial direction (vertical direction) of the axis C <b> 2 on the entire circumference. Each radiating fin 20F is a casting integrally formed with the casing 20, and is continuously joined to the casing 20 (see FIG. 3), so that the amount of heat from the casing 20 is not hindered by the cross section or the like. It is designed to be moved efficiently. That is, in the side surface portion 20S, the chance of contact with the outside air is increased by the radiation fins 20F that increase the surface area, and the amount of heat transferred thereto is efficiently radiated to the outside air. In the present embodiment, in the radiating fin 20F, the end on the bottom plate 22 side is the lower end F1, and the end on the top plate 23 side is the upper end F2. In the vertical direction (the axial direction of the axis C2), the lower end F1 of the radiating fin 20F is formed at a position substantially aligned with the bottom plate 22, and the upper end F2 of the radiating fin 20F is at a position in front (downward) of the top plate 23. Is formed. That is, each of the radiating fins 20F has a flow path intersecting the radiating fins 20F because the upper side is cut away by the length of the passage width H3 with respect to the vertical length H1 of the side surface portion 20S. It is formed and has a length H2 shorter than the length H1 of the side surface portion 20S in the vertical direction by the passage width H3 of the flow passage.

A cover 21 for protecting the second motor M2 provided in the case 20 or on the top plate 23, the electric circuit and the mechanical structure from splashes and dusts in the external environment is mounted on the case 20 from above. The cover 21 is made of a plastic resin material and is formed in a covered rectangular tube shape having a height higher than that of the housing 20. More specifically, the cover 21 includes a cover main body 21A that covers the top plate 23 of the housing 20 and the second motor M2 provided therein when the cover 21 is covered from above the housing 20, and a side surface portion of the housing 20. The cover body 21 </ b> A covering the cover body 21 </ b> A so as to surround the cover body 21 </ b> A is widened and has a stepped surface 26 connecting the cover body 21 </ b> A and the skirt part 25. That is, the step surface 26 between the contact end 27 at the lower end of the cover main body 21A and the skirt portion 25 expands the skirt portion 25 with respect to the cover main body 21A. The abutting end 27 of the cover main body 21A abuts the top plate 23 of the housing 20 so that the cover 21 is placed at a predetermined position with respect to the housing 20, and the height at which the skirt portion 25 surrounds the side surface portion 20S is set. It prescribes.

  In the present embodiment, the lower end of the skirt portion 25 is positioned at the same height as the bottom plate 22, that is, the lower end F1 of the radiating fin 20F. Further, the distance by which the step surface 26 expands the skirt portion 25 is substantially the same as the protruding length L from the side surface portion 20S of the radiating fin 20F, and the skirt portion 25 has the side surface portion 20S and the respective heat radiations inside thereof. A passage space including the fins 20F is formed. Further, since each of the heat dissipating fins 20F has a flow passage whose upper end F2 is cut out by a passage width H3 in front of the top plate 23, these flow passages are formed in the passage space in the skirt portion 25, the step surface. 26, it is an aspect surrounded by the side surface portion 20S.

  Further, the cover body 21A is provided with a recess 21B extending from the upper end to the step surface 26 so that the rigidity of the cover 21 is increased. A joint portion 28 is formed at a position where the recess 21 </ b> B and the step surface 26 intersect, and a screw receiving portion 20 </ b> B is formed at a position of the top plate 23 of the housing 20 corresponding to the joint portion 28 of the cover 21. ing. Then, a screw (not shown) inserted through the screw hole 28H of the joint portion 28 is screwed into the screw receiving portion 20B, whereby the joint portion 28 and the screw receiving portion 20B are fixed, and the cover 21 is joined to the housing 20. It has come to be.

  Next, the heat dissipation function in the housing 20 (second arm 15) will be described with reference to FIG. FIG. 5 is a schematic view schematically showing the second arm 15, (a) is a top view of the second arm 15, and (b) is a portion applied to the left side surface portion of the housing 20 shown in (a). (C) is a cross-sectional view showing a cross-sectional structure taken along the line 5c-5c shown in (a), and (d) is a partial cross-section of a portion related to the right side surface portion of the housing 20 shown in (a). FIG. For convenience of explanation, in FIG. 5, the cover 21 is simplified or partly omitted.

  In FIG. 5, a vertical passage extending in the vertical direction is formed between the two radiating fins 20 </ b> F in the passage space. As shown in FIG. 5B, the left side SL is close to the axis C <b> 2. Is indicated as a vertical passage L1, in the order away from the vertical passages L2 to L5, and the one farthest from the axis C2 is indicated as a vertical passage L6. Similarly, as shown in FIG. 5 (d), the portion close to the axis C2 in the right side surface SR is indicated as a longitudinal passage R1, and as it is further away from it, the passages are indicated as longitudinal passages R2 to R5 in order, and from the center C2. The separated one is indicated as a vertical passage R6. Furthermore, one passage that connects each flow path of each radiating fin 20F in the left side portion SL in the lateral direction is shown as a horizontal passage LC, and one passage that connects each flow passage of each radiating fin 20F in the lateral direction in the right side portion SR. This is shown as a horizontal passage RC.

  As shown in FIG. 5A, when the housing 20 is turned right about the axis C2 and the tip thereof is moved in the direction of the arrow, the left side SL is shown in FIG. As shown in FIG. 5 (d), an air flow is generated on the right side SR of the right side SR. When the housing 20 is turned left about the axis C2 and its tip is moved in the direction of the opposite arrow, an air flow similar to that of the right side SR when turning right is generated in the left side SL. The right side SR only has the same air flow as that of the left side SL at the time of right turn, and most of the description overlaps with that of the right turn, so the description of the left turn is omitted here. To do.

More specifically, the left-side surface portion SL that is turned rightward moves to the back side in FIG. 5B, but the moving speed on the side of the longitudinal passage L6 that is further away from the axis C2 is relatively higher than that of the longitudinal passage L1 side. Get faster. At this time, as the left side surface 29L of the convex portion 29 projecting downward from the passage space also moves to the back side in the drawing, the pressure on the left side surface 29L is lowered, and the left side surface 29L has the same passage space. This causes a flow of air flowing in. At this time, since the moving speed on the vertical passage L6 side is relatively faster than that on the vertical passage L1 side, the pressure on the left side surface 29L is relatively lower on the vertical passage L6 side than on the vertical passage L1 side. Become. The atmospheric pressure formed by the left side surface 29L as described above is transmitted to the vertical passages L1 to L6 immediately above the left side surface 29L. Thereby, for example, the air pressure in the vertical passage L6 is the lowest pressure, so that air flows in from the horizontal passage LC, and the air pressure in the horizontal passage LC is also lowered accordingly. Since a plurality of vertical passages L1 to L6 communicate with the horizontal passage LC, air is introduced into, for example, the vertical passage L1 having a relatively high atmospheric pressure while being decompressed, to the reduced horizontal passage LC. According to this, an air flow is formed from the vertical passage L1 through the horizontal passage LC to the vertical passage L6. That is, for example, as indicated by an arrow in FIG. 5 (b), the air pressure is relatively high in each of the vertical passages L6 to L3 having a relatively low atmospheric pressure by sucking air downward in the left side surface portion SL. A flow is generated in which air flowing into the vertical passages L1 and L2 from below is introduced through the horizontal passage LC. Whether the air flowing through each of the vertical passages L1 to L6 flows upward (inflows) or flows downward (outflows) depends on the width of the left side surface, the height, length, width, and arm of each radiating fin. It changes or changes depending on the turning speed, the shape of the left side of the convex portion, the protruding length, and the like. However, at least the horizontal passage LC has a flow from the vertical passage L1 side to the vertical passage L6 side. As a result, in the left side surface portion SL, such an air flow generated around each radiation fin 20F efficiently radiates heat from each radiation fin 20F.

  On the other hand, the right-side surface portion SR that is turned to the right moves toward the front side in FIG. 5D, but the moving speed on the side of the longitudinal passage R6 that is farther from the axis C2 is relatively faster than that on the side of the longitudinal passage R1. Become. At this time, as the right side surface 29R of the convex portion 29 projecting downward from the passage space is also moved to the near side in the drawing, the pressure on the right side surface 29R is increased, and the right side surface 29R is connected to the right side surface 29R. A flow in which air is pushed into the space is generated. At this time, since the moving speed on the vertical passage R6 side is relatively higher than that on the vertical passage R1 side, the pressure on the right side surface 29R is relatively higher on the vertical passage R6 side than on the vertical passage R1 side. Become. The atmospheric pressure formed by the right side surface 29R as described above is transmitted to the vertical passages R1 to R6 immediately above the right side surface 29R. As a result, for example, the atmospheric pressure in the vertical passage R6 becomes the highest pressure, so that air flows out to the horizontal passage RC, and the air pressure in the horizontal passage RC is increased accordingly. Since the plurality of vertical passages R1 to R6 communicate with the horizontal passage RC, the pressure is increased in the horizontal passage RC that is pressurized, for example, the air flows out into the vertical passage R1 having a relatively low atmospheric pressure, According to this, an air flow is formed from the vertical passage R6 to the vertical passage R1 through the horizontal passage RC. That is, for example, as indicated by an arrow in FIG. 5 (d), the air flows into the right side surface SR from below, and each of the relatively low atmospheric pressures from the vertical passages R6 to R3 having a relatively high atmospheric pressure. An air flow that flows in through the horizontal passage RC is generated so that the air flows out below the vertical passages R1 and R2. Whether the air flowing through each of the vertical passages R1 to R6 flows upward (inflows) or flows downward (outflows) depends on the width of the right side surface, the height, length, width, and arm of each radiating fin. It changes or changes depending on the turning speed, the shape of the right side surface of the convex portion, the protruding length, and the like. However, at least the horizontal passage RC has a flow from the vertical passage R6 side to the vertical passage R1 side. As a result, in the right side surface portion SR, such an air flow generated around each radiation fin 20F efficiently dissipates heat from each radiation fin 20F.

As described above, according to the swivel arm with a heat radiation function of the present embodiment, the following effects can be obtained.
(1) The atmosphere (air) in the length direction of the second arm 15 along the same flow path by the flow path of the radiating fin 20F provided on the protrusion on the side surface 20S facing the turning movement direction of the second arm 15 To be distributed. Thereby, when there is no radiation fin 20F, the flow of the atmosphere (air) which only escapes so that it may slide on the surface of the 2nd arm 15 is caught by the radiation fin 20F, and the cooling efficiency of the 2nd arm 15 is raised. That is, the second arm 15 to which heat generated by a heating element such as the second motor M2 is transmitted is forced to circulate through the radiating fins 20F due to the swiveling movement, so that the heat radiation amount increases and the second arm 15 increases. The temperature rise of the arm 15 is suppressed.

  (2) In addition, the amount of air flowing through the side surface portion 20S varies depending on the distance (length) from the axis C2 (base end side) as the rotation axis of the second arm 15 that pivots and moves to the side surface portion 20S. Will also cause a pressure difference. Therefore, the air is caused to flow from a relatively high pressure to a low pressure by the flow path of the radiation fin 20F. For example, at the front in the turning direction (right side surface SR), the tip side (vertical passage R16 side) where the atmospheric pressure is relatively higher than the base end side (vertical passage R11 side) due to the relatively high moving speed. ) Through the same flow passage in the proximal direction, increasing the flow of air on the proximal side with less air flow than the distal end. Further, even on the rear surface in the turning direction (left side surface portion SL), the air pressure passes through the flow passage from the proximal direction toward the distal end side (vertical passage L16 side) where the atmospheric pressure is relatively low due to the relatively high moving speed. In this case, the air flow on the base end side (longitudinal passage L11 side) is also increased. As a result, by increasing the air flow at the base end portion of the second arm 15 having a relatively small air flow rate, the heat dissipation amount of the entire arm is increased to suppress the temperature increase of the entire arm, and the temperature rise By slowing the rate of increase when the heat is applied, heat is diffused into the second arm 15 to suppress a local temperature increase. As a result, it is possible to prevent the temperature of the second motor M2 and the like from exceeding a predetermined temperature range, and so-called limitation of the operation performance such as the rotation speed and the operation time is required. The restriction on the high speed movement and the number of movements is suppressed. That is, it is possible to suppress the high-speed movement and the number of movements as the horizontal articulated robot 10 from being restricted.

  (3) Furthermore, the local temperature rise is suppressed by slowing the temperature rise of the second arm 15. As a result, local expansion caused by a local temperature rise prevents unpredictable bending or deflection in the second arm 15 and prevents the relative positional relationship between the proximal end and the distal end from shifting indefinitely. Thus, a decrease in positioning accuracy of the tip of the second arm 15 is also suppressed. That is, a decrease in positioning accuracy of the arm tip of the horizontal articulated robot 10 is also suppressed.

  (4) A passage space including the plurality of heat radiation fins 20F is formed between the side surface portion 20S of the second arm and the cover 21 by the cover 21 surrounding the plurality of heat radiation fins 20F. In the axial direction, a convex portion 29 provided on the bottom plate 22 of the housing 20 and communicating with the side surface portion 20S was formed. As a result, when the second arm 15 turns, a pressure or reduced pressure is generated on the air by the convex portion 29, and the passage space is formed through the side surface portion 20 </ b> S where the pressurized or depressurized air communicates with the convex portion 29. Is transmitted in. As a result, air in the passage space flows, and heat dissipation from the second arm 15 through the radiation fins 20F is promoted.

  (5) Further, the cover 21 causes the air flowing from one end side of the cover 21 to flow along the heat radiation fins 20 </ b> F until it flows out from the other end side of the cover 21. Thereby, the heat radiation from the heat radiation fin 20F is efficiently performed.

Furthermore, the heat radiation fin 20F is surrounded by the cover 21, so that noise such as a cold sound generated when the heat radiation fin 20F directly cuts air is reduced.
Further, since the radiating fin 20F is not exposed to the outside, the aesthetic appearance of the arm is maintained, and it is possible to prevent the member, the wiring, and the like from being caught on the unevenness formed on the arm surface by the radiating fin.

  (6) The separately formed convex portion 29 is attached to the housing 20. As a result, the weight of the convex portion 29 can be easily reduced, and the convex portion 29 can be changed as appropriate according to the flow of air, and the degree of freedom of the shape of the convex portion 29 provided on the second arm 15 is increased. It is done.

  (7) In the side surface portion 20S of the second arm 15, a lateral passage is formed in which the flow passage of the radiating fin 20F is continuously formed linearly from the proximal end side to the distal end side of the second arm 15. As a result, air quickly circulates in the lateral direction through the side surface 20S through the lateral passage composed of this flow passage, and the flow rate of air to the radiating fin 20F on the proximal end side is increased. As a result, heat dissipation from the second arm 15 is suitably performed.

  (8) The heat radiating fins 20 </ b> F are integrally formed on the side surface portion 20 </ b> S of the housing 20. As a result, the heat of the second arm 15 is efficiently transmitted to the radiation fins 20F and radiated without lowering the thermal conductivity between the second arm 15 (housing 20) and the radiation fins 20F. .

(9) The upper part of the passage space is sealed by the step surface 26 of the cover 21. According to this, even when the upper portion of the passage space is sealed off by the stepped surface 26 by the simple cover 21 that covers the second arm 15 like a lid, each of the radiating fins 20F is moved by the swivel movement of the second arm 15. Air is circulated between the radiating fins 20F through the flow passages, and heat is radiated through the radiating fins 20F.
(Second Embodiment)
Hereinafter, a second embodiment of a horizontal articulated robot including an arm in which a turning arm with a heat radiation function according to the present invention is embodied will be described with reference to FIG. This embodiment is different from the first embodiment only in that the second arm 15 is formed with a vent hole 32 communicating with the passage space on the step surface 26 of the cover 21. This is the same as the first embodiment. Therefore, here, the heat dissipation function of the housing 20 in the case where the vent hole 32 is formed in the cover 21 will be mainly described. For convenience of explanation, members similar to those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  FIG. 6 is a schematic view schematically showing the second arm 15, (a) is a top view of the second arm 15, and (b) is applied to the left side surface portion of the housing 20 shown in (a). It is a fragmentary sectional view of a part, (c) is a sectional view showing a 6c-6c line sectional structure shown in (a), and (d) is a portion of a part concerning the right side part of case 20 shown in (a) It is sectional drawing. For convenience of explanation, in FIG. 6, the cover 21 is simplified or a part thereof is omitted.

  Also in FIG. 6, a vertical passage extending in the vertical direction (the axial direction of the axis C2) is formed between the two radiation fins 20F in the passage space, and as shown in FIG. In SL, the thing close to the axial center C2 is shown as the vertical path L1, the vertical paths L2 to L5 are shown in the order away from the longitudinal path L1, and the thing farthest from the axis C2 is shown as the vertical path L6. Similarly, as shown in FIG. 6 (d), a portion close to the axis C2 in the right side surface portion SR is indicated as a longitudinal passage R1, and as it is further away from it, it is indicated as longitudinal passages R2 to R5 in order, and from the center C2. The separated one is indicated as a vertical passage R6. Furthermore, one passage that connects each flow path of each radiating fin 20F in the left side portion SL in the lateral direction is shown as a horizontal passage LC, and one passage that connects each flow passage of each radiating fin 20F in the lateral direction in the right side portion SR. This is shown as a horizontal passage RC.

  As shown in FIG. 6 (a), when the housing 20 is turned to the right about the axis C2 and its tip is moved in the direction of the arrow, the left side SL is shown with an arrow in FIG. 6 (b). As shown in FIG. 6, an air flow as shown by the arrow in FIG. 6D is generated on the right side surface SR. When the housing 20 is turned left about the axis C2 and its tip is moved in the direction of the opposite arrow, an air flow similar to that of the right side SR when turning right is generated in the left side SL. The right side SR only has the same air flow as that of the left side SL at the time of right turn, and most of the description overlaps with that of the right turn, so the description of the left turn is omitted here. To do.

Specifically, the left-side surface portion SL that is turned rightward moves to the back side in FIG. 6B, but the moving speed on the side of the longitudinal passage L6 that is further away from the axis C2 is relatively higher than that of the longitudinal passage L1 side. Get faster.
At this time, as the left side surface 29L of the convex portion 29 projecting downward from the passage space also moves to the back side in the drawing, the pressure on the left side surface 29L is lowered, and the left side surface 29L has the same passage space. The flow of air will flow in. At this time, since the moving speed on the vertical passage L6 side is relatively faster than that on the vertical passage L1 side, the pressure on the left side surface 29L is relatively lower on the vertical passage L6 side than on the vertical passage L1 side. Become. The atmospheric pressure formed by the left side surface 29L as described above is transmitted to the vertical passages L1 to L6 immediately above the left side surface 29L. Accordingly, for example, the air pressure in the vertical passage L6 flows out downward and becomes the lowest pressure, so that the air flows in from the horizontal passage LC, and the air pressure in the horizontal passage LC is also lowered accordingly. Since the lateral passage LC communicates with the plurality of vent holes 32, air is introduced into the decompressed lateral passage LC from the vent holes 32. According to this, the lateral passage LC passes from the vent hole 32 to the lateral passage LC. An air flow to the vertical passage L6 is formed. At this time, for example, since the pressure on the vertical passage L6 side is relatively low and the pressure on the vertical passage L1 side is relatively high, as shown by an arrow in FIG. A large amount of the inflowed air is supplied to the vertical passage L6, and an air flow from the vertical passage L1 side to the vertical passage L6 side is generated in the horizontal passage LC. Whether the air flowing through the vertical passages L1 to L6 flows upward (inflows) or flows downward (outflows) depends on the number and size of the vent holes 32, the width of the left side surface, It changes or changes depending on the height, length, width, turning speed of the arm, the shape of the left side of the convex portion, the protruding length, and the like. However, at least the horizontal passage LC has a flow from the vertical passage L1 side to the vertical passage L6 side. As a result, in the left side surface portion SL, such an air flow generated around each radiation fin 20F efficiently radiates heat from each radiation fin 20F.

  On the other hand, the right side surface SR that is turned to the right moves to the near side in FIG. 6D, but the moving speed on the side of the longitudinal passage R6 that is farther from the axis C2 is relatively higher than that of the longitudinal passage R1. Become. At this time, as the right side surface 29R of the convex portion 29 protruding downward from the passage space also moves to the near side in the drawing, the pressure on the right side surface 29R is increased, and the right side surface 29R enters the passage space. A flow in which air is pushed in is generated. At this time, since the moving speed on the vertical passage R6 side is relatively higher than that on the vertical passage R1 side, the pressure on the right side surface 29R is relatively higher on the vertical passage R6 side than on the vertical passage R1 side. Become. The atmospheric pressure formed by the right side surface 29R as described above is transmitted to the vertical passages R1 to R6 immediately above the right side surface 29R. Thus, for example, the air pressure in the vertical passage R6 flows from the lower side and becomes the highest pressure, so that the air flows out to the horizontal passage RC, and the air pressure in the horizontal passage RC is increased accordingly. Since the lateral passage RC communicates with the plurality of vent holes 32, the air that has been pressurized in the lateral passage RC flows out of the vent passages 32. According to this, the lateral passage RC passes from the longitudinal passage R6 to the lateral passage RC. An air flow to the passage vent 32 is formed. At this time, for example, since the pressure on the vertical passage R6 side is relatively high and the pressure on the vertical passage R1 side is relatively low, as shown by an arrow in FIG. It moves to the vertical passage R1 side through the passage RC, is distributed to the respective vent holes 32 and flows out, and air flows from the vertical passage R6 side to the vertical passage R1 side in the horizontal passage RC. Whether the air flowing through each of the vertical passages R1 to R6 flows upward (inflows) or flows downward (outflows) depends on the number and size of the air holes 32, the width of the right side surface, It is changed or changed depending on the height, length, width, turning speed of the arm, the shape of the right side surface of the convex portion and the protruding length. However, at least the horizontal passage RC has a flow from the vertical passage R6 side to the vertical passage R1 side. As a result, in the right side surface portion SR, such an air flow generated around each radiation fin 20F efficiently dissipates heat from each radiation fin 20F.

As described above, in addition to the effects (1) to (9) described above, the following effects can be obtained according to the swivel arm with a heat radiation function of the present embodiment.
(10) Ventilation holes 32 are formed in the stepped surface 26 of the cover 21 that seals the upper part of the passage space. As a result, even if the passage space formed by the simple cover 21 covering the second arm 15 in a lid shape is sealed with the stepped surface 26 at the upper part, the air holes 32 are formed in the vertical direction by forming the vent holes 32. Will also be distributed. That is, when the second arm 15 is not pivoted, heat is radiated through the radiation fins 20F by the rising air flow that is naturally generated by the warmed air.
(Third embodiment)
Hereinafter, a third embodiment of a horizontal articulated robot including an arm in which a turning arm with a heat radiation function according to the present invention is embodied will be described with reference to FIG. In addition, the present embodiment is different from the first embodiment in that the flow path formed in the heat radiating fin constituting the flow path is also formed in the middle of the heat radiating fin in the vertical direction (the axial direction of the axis C2). The only difference is the other structure, which is the same as in the first embodiment. Therefore, here, the heat radiation function of the housing 20 in the case where such heat radiation fins are formed will be mainly described. For convenience of explanation, members similar to those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  FIG. 7 is a schematic view schematically showing the second arm 15, (a) is a top view of the second arm 15, and (b) is applied to the left side surface portion of the housing 36 shown in (a). It is a fragmentary sectional view of a part, (c) is a sectional view showing a 7c-7c line sectional structure shown in (a), and (d) is a portion of a part concerning the right side part of case 36 shown in (a) It is sectional drawing. For convenience of explanation, in FIG. 7, the cover 21 is simplified or partly omitted.

  The housing 36 has a left side surface SL facing the left side turning direction (left side in FIG. 7A) from the proximal end portion of the second arm 15 toward the distal end portion, and from the proximal end of the second arm 15. It has a right side surface SR facing the right side turning movement direction (right side in 7 (a)) toward the tip. As shown in FIG. 7 (b), the left side surface portion SL is formed with a plurality of radiating fins 35Fa and radiating fins 35Fb alternately extending in the vertical direction (axial direction of the axis C2), As shown in FIG. 7 (d), a plurality of radiating fins 35Fa and radiating fins 35Fb that are elongated in the vertical direction are alternately formed on the right side surface SR. Each radiating fin 35Fa and each radiating fin 35Fb is a casting integrally formed with the housing 36 and is continuously joined to the housing 36, so that the amount of heat from the housing 36 is not hindered by the cross section or the like. It is designed to be moved efficiently. That is, the housing 36 has an increased chance of contact with the outside air by means of the radiation fins 35Fa and 35Fb that increase the surface area, and the amount of heat transmitted thereto is efficiently radiated to the outside air.

  In the present embodiment, the radiating fins 35Fa and the radiating fins 35Fb are each configured in such a manner that the ridges are cut out by a flow portion intersecting the ridges and divided into a plurality of convex portions. Specifically, the radiation fin 35Fa includes a first convex portion F11 having a height H11 from the lower end thereof, and a second convex portion F12 having a height H12 that is continuous with the first convex portion F11 with the first flow portion interposed therebetween. , And a second distribution portion formed between the second convex portion F12 and the top plate of the housing 36. Further, the radiation fin 35Fb includes a third convex portion F13 having a height H15 from the lower end thereof, a fourth convex portion F14 having a height H16 that is continuous with the third convex portion F13 through the third flow portion, and a second convex portion F14. It is comprised from the 5th convex part F15 of the height H17 continuing on the 4th convex part F14 through the 4th distribution part.

And between the radiation fin 35Fa and the radiation fin 35Fb adjacent to the horizontal direction perpendicular to the vertical direction, the first and second flow portions formed in the radiation fin 35Fa and the third and third formed in the radiation fin 35Fb. The four flow sections are not arranged at the same position in the horizontal direction. That is, the position of the first circulation part of the radiation fin 35Fa is adjusted by the height H11 or the like so as to be in the same position in the lateral direction as the third circulation part or the fourth circulation part of the radiation fin 35Fb. Further, the position of the second circulation part of the radiation fin 35Fa is further adjusted by the height H12 or the like so as to be at the same position in the lateral direction as the third circulation part and the fourth circulation part of the radiation fin 35Fb. Similarly, the position of the third circulation part of the radiation fin 35Fb is adjusted by the height H15 or the like so as to be in the same position in the lateral direction as the first circulation part or the second circulation part of the radiation fin 35Fa. In addition, the position of the fourth circulation part of the radiation fin 35Fb is further adjusted by the height H16 or the like so as to be in the same position in the lateral direction as the first circulation part and the second circulation part of the radiation fin 35Fa. That is, the 4th convex part F14 of the radiation fin 35Fb is arrange | positioned in the horizontal direction of the 1st flow path of the radiation fin 35Fa, and the 5th convex part F15 is arrange | positioned in the horizontal direction of the 2nd flow path. Moreover, the 1st convex part F11 of the radiation fin 35Fa is arrange | positioned in the horizontal direction of the 3rd flow path of the radiation fin 35Fb, and the 2nd convex part F12 is arrange | positioned in the horizontal direction of the 4th flow path. Thereby, with respect to the horizontal direction of the housing 36, for example, the first flow path and the third flow path are arranged in a staggered manner, and for example, the second flow path and the fourth flow passage are arranged in a staggered manner. .

Next, the heat dissipation function in the housing 36 (second arm 15) will be described.
In FIG. 7, a vertical passage extending in the vertical direction is formed between the heat radiation fins 35Fa and the heat radiation fins 35Fb in the passage space. As shown in FIG. The closest one is shown as the vertical passage L11, the vertical passages L12 to L15 are shown in order from the distance from the vertical passage L11, and the one closest to the axis C2 is shown as the vertical passage L16. Similarly, as shown in FIG. 7 (d), the portion close to the axis C2 in the right side surface portion SR is indicated as a longitudinal passage R11, and as it is further away from it, the passages are indicated as longitudinal passages R12 to R15 in order. The separated one is indicated as a vertical passage R16. Further, in the present embodiment, the first flow path and the second flow path of the radiating fins 35Fa alternately arranged in the lateral direction in the left side surface portion SL, and the third flow path and the fourth flow path of the radiating fins 35Fb are in the vertical direction. The lateral passage is formed while the arrangement position is shifted. Similarly, in the right side surface SR, the first and second flow paths of the radiation fins 35Fa alternately arranged in the lateral direction and the third and fourth flow paths of the radiation fins 35Fb are arranged in the vertical direction. While being displaced, it forms a side passage.

  As shown in FIG. 7A, when the housing 36 is turned to the right about the axis C2 and the tip thereof is moved in the direction of the arrow, the left side SL thereof has an arrow in FIG. 7B. As shown in FIG. 7 (d), an air flow is generated on the right side surface portion SR. When the housing 36 is turned left about the axis C2 and its tip is moved in the direction of the opposite arrow, the left side SL has the same air flow as the right side SR when turning right, The right side SR only has the same air flow as that of the left side SL at the time of right turn, and most of the description overlaps with that of the right turn, so the description of the left turn is omitted here. To do.

  Specifically, the left-side surface portion SL that is turned rightward moves to the back side in FIG. 7B, but the moving speed on the side of the longitudinal passage L16 that is further away from the axis C2 is relatively higher than that of the longitudinal passage L11 side. Get faster. At this time, the left side surface 29L of the convex portion 29 projecting downward from the passage space also moves to the back side in the figure, and air flows into the left side surface 29L as the pressure on the left side surface 29L decreases. Such a flow is generated. At this time, since the moving speed on the vertical passage L16 side is relatively higher than that on the vertical passage L11 side, the pressure on the left side surface 29L is relatively lower on the vertical passage L16 side than on the vertical passage L11 side. Become. The atmospheric pressure formed by the left side surface 29L as described above is transmitted to the vertical passages L11 to L16 immediately above the left side surface 29L. That is, since the atmospheric pressure in each of the vertical passages L16 to L12 is lower than the atmospheric pressure of each of the vertical passages L15 to L11 adjacent to the axial center C2 side, the horizontal passage formed by the first to fourth flow passages. As shown in FIG. 7B, an air flow in the direction of the distal end of the housing 36 occurs as indicated by a left-pointing arrow.

  That is, since the vertical passage L16 has a lower air pressure than the vertical passage L15, the air in the vertical passage L15 flows in through the third flow passage and the fourth flow passage, and at this time, the air flows into the radiating fins 35Fb facing the vertical passage L15. The third convex portion F13, the fourth convex portion F14, and the fifth convex portion F15 come into contact with each other to take heat away. At the same time, the air in the vertical passage L16 flows out downward, and at this time, heat is also taken away from the radiation fins 35Fa and 35Fb.

  Similarly, air flows into the vertical passages L15 to L12 from the vertical passages L14 to L11, respectively, and heat is taken away from the radiation fins 35Fa and 35Fb as the air flows. In each of the vertical passages L15 to L13, air flowing into the vertical passages L15 and L11 flows out from below, and in each of the vertical passages L12 and L11, air for supplementing the air flowing out of the vertical passages L16 to L13 flows in from below. Also, heat is taken away from each of the radiation fins 35Fa and 35Fb by the inflow and outflow of these airs.

  That is, in the lateral direction of the left side surface portion SL of the housing 36, a flow of air is formed while meandering the first flow path to the fourth flow path toward the distal direction in the lateral path. For example, as indicated by an arrow in FIG. 7B, air from the vertical passages L11 to L12 having a relatively high atmospheric pressure is laterally transferred to the left side surface portion SL to the vertical passages L16 to L13 having a relatively low atmospheric pressure. An air flow is generated that flows in through the passage. Whether the air flowing through the vertical passages L11 to L16 flows upward (inflows) or flows downward (outflows) depends on the size of the left side surface, the height, length, width, and arm of each radiating fin. However, the flow from the vertical passage L11 side to the vertical passage L16 side is generated at least in the horizontal passage. As a result, in the left side surface portion SL, such air flow generated around the radiation fins 35Fa and 35Fb efficiently radiates heat from the radiation fins 35Fa and 35Fb.

  On the other hand, the right-side surface portion SR that is turned to the right moves to the near side in FIG. 7D, but the moving speed on the side of the longitudinal passage R16 that is away from the axis C2 is relatively faster than that on the side of the longitudinal passage R11. Become. At this time, the right side surface 29R of the convex portion 29 projecting downward from the passage space also moves to the near side in the figure, and air is pushed out from the right side surface 29R as the pressure on the right side surface 29R increases. A flow is generated. At this time, since the moving speed on the vertical passage R16 side is relatively higher than that on the vertical passage R11 side, the pressure on the right side surface 29R is relatively higher on the vertical passage R16 side than on the vertical passage R11 side. Become. The atmospheric pressure formed by the right side surface 29R as described above is transmitted to the vertical passages R11 to R16 immediately above the right side surface 29R. That is, the atmospheric pressure in each of the vertical passages R16 to R12 is higher than the atmospheric pressure of each of the vertical passages R15 to R11 adjacent to the axial center C2 side, so that the horizontal passage constituted by the first to fourth flow passages. As shown in FIG. 7D, an air flow in the direction of the distal end of the housing 36 occurs as indicated by a left-pointing arrow.

  That is, since the vertical passage R16 has a higher air pressure than the vertical passage R15, the air in the vertical passage R16 flows out to the vertical passage R15 through the third flow passage and the fourth flow passage, and at this time, the air faces the vertical passage R16. The third convex portion F13, the fourth convex portion F14, and the fifth convex portion F15 of the radiating fin 35Fb also come into contact with each other to take heat away. At the same time, air is introduced from below into the longitudinal passage R16 to supplement the air that flows out, and heat is also taken away from each of the radiation fins 35Fa and 35Fb.

  Similarly, air flows from the vertical passages R15 to R12 to the vertical passages R14 to R11, respectively, and heat is taken away from the radiating fins 35Fa and 35Fb as the air flows. Note that air flows into the vertical passages R15 to R13 from below, and the air supplied from the vertical passages R16 to R13 flows out downward in the vertical passages R12 and R11. Heat is taken away from the fins 35Fa and 35Fb.

That is, in the lateral direction of the right side surface portion SR of the housing 36, a flow of air is formed while meandering the first to fourth flow passages with the lateral passages in the distal direction. For example, as indicated by an arrow in FIG. 7 (d), the right side surface portion SR has a lateral passage from each of the longitudinal passages R16 to R13 having a relatively high atmospheric pressure to each of the longitudinal passages R11 to R12 having a relatively low atmospheric pressure. As a result, air flows in. Whether the air flowing through each of the vertical passages R11 to R16 flows upward (inflows) or flows downward (outflows) depends on the size of the right side surface, the height, length, width, and arm of each radiating fin. However, the flow from the vertical passage R16 side to the vertical passage R11 side is generated at least in the horizontal passage. As a result, in the right side surface SR, such an air flow generated around the radiation fins 35Fa and 35Fb efficiently dissipates heat from the radiation fins 35Fa and 35Fb.

As described above, in addition to the effects (1) to (10) described above, the following effects can be obtained according to the swivel arm with a heat radiation function of the present embodiment.
(11) A first flow path and a third flow path, and a second flow path and a fourth flow path are formed in a staggered pattern on the left side surface portion SL and the right side surface portion SR of the second arm 15, respectively. As a result, a zigzag lateral passage is formed from the proximal end to the distal end of the second arm 15 by the arrangement of the staggered flow passages, and the air flows along this flow path so that the air toward the proximal end side The flow rate is increased. As a result, the heat radiation from the second arm 15 is more suitably performed.

In addition, you may change each said embodiment as follows.
In each of the above embodiments, the convex portion 29 is formed from a resin material. However, the present invention is not limited to this. Also good. Moreover, you may be comprised with the member same as a housing | casing. Thereby, the freedom degree of selection of the member which forms a trapezoid part is raised.

  In each of the above embodiments, the convex portion 29 is attached to the bottom plate 22 of the housing 20 (36). However, the present invention is not limited thereto, and may be integrally formed with the housing. As a result, the number of parts can be prevented from increasing.

  In each of the above embodiments, the cover 21 is formed of a resin material. However, the present invention is not limited thereto, and the cover 21 may be formed of other members such as a metal such as aluminum or carbon fiber, or may be formed by combining these members. Good. Such a degree of freedom of selection of the cover forming member increases the degree of freedom of the configuration of the arm, and naturally the degree of freedom of the configuration of the robot is also increased.

  In each of the above embodiments, the side surface portion 20S is surrounded by the cover 21. However, the present invention is not limited to this, and the entire side surface portion of the housing is not covered by the cover. For example, as shown in FIGS. A part of the side surface portion may be exposed from the cover. FIG. 8 shows a case where only the cover is shortened, and FIG. 9 shows a case where the radiation fin 41F is also shortened together with the cover. In that case, the exposed portion 40 in FIG. 8 exposed from the cover and the exposed portion 42 in FIG. 9 will exhibit the function of the convex portion 29 in each of the above-described embodiments, so that the convex portion 29 may be omitted. You can also do it.

  In each of the above embodiments, the lower end F1 of the radiating fin 20F (35Fa, 35Fb) is formed at a position substantially aligned with the bottom plate 22. However, the present invention is not limited thereto, and the lower end of the radiating fin may be provided above the bottom plate. . In such a case, the heat dissipating fins are not formed in the portion near the bottom plate of the side surface portion, but the portion can also function as a flow passage.

  -In each said embodiment, although the radiation fin 20F (35Fa, 35Fb) was formed in the protrusion in the axial direction of the axial center C2, not only this but a radiation fin is the same of the arm in the surface of the turning movement direction of an arm. It may be formed in a ridge that extends in a direction that is not parallel to the turning trajectory. That is, for example, as shown in FIG. 10, the radiation fins 44 </ b> F may have an inclination angle with respect to the axial direction. Moreover, the inclination angle and direction of each radiating fin may be different. Thereby, the freedom degree of the shape of the radiation fin formed in an arm comes to be raised.

Further, the shape of the radiating fin is not limited to a rectangular shape in the vertical direction, and may be a curved shape or a wavy shape. Also by this, the freedom degree of the shape of the radiation fin formed in an arm comes to be raised.

  In each of the above embodiments, the radiating fins 20F (35Fa, 35Fb) are formed on the side surface 20S of the housing 20 (36). However, the present invention is not limited to this, and the radiating fins are not integrally formed, You may make it attach separately to a part. As a result, the degree of freedom in selecting the heat dissipating fins provided on the arm is increased, and such a heat dissipating function can be added to the existing arm.

  In the third embodiment, the first flow path and the third flow path, and the second flow path and the fourth flow path are arranged in a staggered manner. The three flow paths, or the second flow path and the fourth flow path may be arranged linearly. By doing so, a straight horizontal passage by a flow passage is formed in the middle of each radiating fin, and an air flow path is formed from the base end to the tip end of the arm, and air flows quickly along this flow path. As a result, the flow rate of air to the proximal end side is increased. Also by this, the heat radiation from the arm is more suitably performed.

  In each of the above embodiments, the convex portion 29 is provided below the passage space. However, the present invention is not limited thereto, and the convex portion may be provided above the passage space. For example, the cover body of the cover can be used as a convex portion. Thereby, the freedom degree of a structure of a convex part comes to be raised.

  In each of the above-described embodiments, the cover main body 21A and the skirt portion 25 are integrally formed so as to be connected by the step surface 26. However, the present invention is not limited thereto, and the skirt portion may be separated from the cover main body. At this time, the skirt portion may be attached to the housing independently. Thereby, the freedom degree of a structure of the skirt part surrounding the side part of a housing | casing is raised.

  -In each said embodiment, although the cover 21 was provided in the 2nd arm 15, not only this but atmosphere (air) is the same circulation by the flow path of the radiation fin of the side part which faces the turning movement direction of an arm. If it is distributed along the road, the cover may not be provided. Even when the cover is not provided, the atmosphere (air) flowing on the surface of the arm is captured by the radiating fins, so that the cooling efficiency of the arm is increased, and the air also flows through the flow path of the radiating fins. As a result, air flows in the length direction of the arm, the air flow rate on the base end side where the air flow is small is increased, and the heat dissipation efficiency of the entire arm is enhanced. By improving the heat radiation efficiency of the entire arm, the heat generated by a heating element such as a motor is efficiently radiated from the arm by its pivoting movement, and the temperature rise of the arm is suppressed.

The perspective view which shows the perspective structure of 1st Embodiment of the horizontal articulated robot which has the arm which actualized the arm with a thermal radiation function concerning this invention. The perspective view which shows the perspective structure from the downward direction of the arm of the embodiment. Sectional drawing which shows the cross-section of the arm of the embodiment. It is a figure which shows typically the thermal radiation structure of the arm of the embodiment, (a) is a top view, (b) is a front view, (c) is a right view. It is a figure explaining the thermal radiation function of the arm of the embodiment, (a) is a top view, (b) is a front view, (c) is a sectional view taken along the line 5c-5c of (a), (d) is a rear view Figure. It is a figure explaining the heat dissipation structure of the arm of 2nd Embodiment and its function, Comprising: (a) is a top view, (b) is a front view, (c) is a 6c-6c sectional view taken on the line of (a), (D) is a rear view. It is a figure explaining the thermal radiation structure of the arm of 3rd Embodiment, and its function, Comprising: (a) is a top view, (b) is a front view, (c) is the 7c-7c sectional view taken on the line of (a), (D) is a rear view. The schematic diagram which shows the front structure of the thermal radiation structure of the arm of other embodiment. The schematic diagram which shows the front structure of the thermal radiation structure of the arm of other embodiment. The schematic diagram which shows the front structure of the thermal radiation structure of the arm of other embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Horizontal articulated robot, 11 ... Base, 12 ... Rotating shaft, 13 ... 1st arm, 14 ... Support shaft, 15 ... 2nd arm, 15A ... Vertical rotating shaft cylinder, 16 ... Vertical rotating shaft, 17 ... Lower end part, 20 ... Case, 20B ... Screw receiving part, 20F ... Radiation fin, 20S ... Side part, 21 ... Cover, 21A ... Cover body, 21B ... Recess, 22 ... Bottom plate, 22A, 22B ... Shaft hole, 23 ... Top plate, 23A ... bearing, 24A ... main body, 24F ... flange, 25 ... skirt portion, 26 ... stepped surface as a sealing portion, 27 ... contact end, 28 ... joint portion, 28H ... screw hole, 29 ... convex portion, 29L ... left side, 29R ... right side, 32 ... vent hole, 35Fa, 35Fb ... radiation fin, 36 ... casing, 40, 42 ... exposed part, 41F, 44F ... radiation fin, C1, C2, C3 ... axis, F1 ... lower end, F2 ... upper end, L1 to L6, L 1 to L16, R1 to R6, R11 to R16: vertical passage, LC: lateral passage, M1: first motor, M2: second motor, M3: rotary motor, M4: lifting motor, RC: lateral passage, SL: left side Surface portion, SR: right side surface portion, F11: first convex portion, F12: second convex portion, F13: third convex portion, F14: fourth convex portion, F15: fifth convex portion.

Claims (9)

A swivel arm with a heat dissipation function having a function of dissipating heat transmitted to an arm made of a heat conductive material that revolves around a rotation axis,
The arm is provided with a plurality of radiating fins made of ridges that are not parallel to the turning trajectory of the arm on the side surface facing the turning movement direction, and the radiating fin intersects the protruding direction of the ridges. A swivel-type arm with a heat dissipation function, characterized in that a flow passage is provided to circulate air in a direction to perform heat radiation. A space is formed between the side surface and the cover by providing a cover that includes the side surface and surrounds the plurality of heat radiation fins on the side surface facing the turning movement direction of the arm. 2. At least one direction from the space to the axial direction of the rotary shaft is further provided with a convex portion that is in contact with the side surface facing the turning movement direction in a state of protruding from the space. Swivel arm with heat dissipation function. 3. The swivel arm with a heat radiation function according to claim 1, wherein the flow passages provided in the plurality of heat dissipating fins are respectively provided in a form along one side of the side surface facing the swivel movement direction of the arm. The flow path provided in the said radiation fin is provided in the aspect which notched the middle of each protrusion which comprises these radiation fins, The turning type arm with a thermal radiation function as described in any one of Claims 1-3 . The flow passage provided in a manner of notching the middle of each ridge constituting the radiating fin has a radiating function according to claim 4, wherein a notch position in the axial direction of the rotating shaft is different for each adjacent ridge. Swivel arm. 6. The swivel arm with a heat radiation function according to claim 1, wherein each protrusion constituting the heat radiation fin is integrally formed on a side surface of the arm facing the swivel movement direction. The cover has a sealing portion in which one end surface in the axial direction of the rotating shaft is connected to the arm,
The swivel arm with a heat radiation function according to any one of claims 2 to 6, wherein one end surface of the space includes the plurality of heat radiation fins and a flow passage thereof and is sealed at the sealing portion. . The swivel arm with a heat radiation function according to claim 7, wherein a plurality of vent holes communicating with the space are formed in the blocking portion. A horizontal articulated robot in which a plurality of arms are connected horizontally via a rotation axis,
The horizontal articulated robot according to claim 1, wherein at least one of the plurality of arms is a revolving arm with a heat dissipation function according to claim 1.

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