JP2018019471A - Robot and motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot capable of achieving both of a cost reduction and shortening of cycle time, and a motor.SOLUTION: A robot includes a first member, a second member provided turnably with respect to the first member, and a motor 4 which transmits drive force from one of the first and second members to the other of the first and second members. The motor 4 includes a stator 14 having a bobbin 26 and a winding 40 wound around the bobbin 26, and a rotor 16 rotatably mounted in the stator 14. The motor 4 is configured such that a power source voltage is within a range of 48 to 60 V, a wire diameter of the winding 40 is within a range of 0.45 to 0.75 mm, and the number of turns of the winding 40 is within a range of 29 to 44.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a robot and a motor.

  Conventionally, after joining one second work gripped by one hand part of a plurality of hand parts included in a robot hand to a joining location of a first work to be joined, each hand part is integrated. It is disclosed that, by rotating, the first work part is separated from the first work part, and the second work part gripped by the other hand part is moved closer to the joining part of the first work part and positioned. (For example, refer to Patent Document 1).

  For this reason, when performing the operation | work which joins several 2nd workpiece | work continuously, the operation | work which moves a hand part to the set position for hold | gripping a 2nd workpiece | work, and a hand part from a set position to a 1st The number of operations to be moved to the workpiece can be reduced, and the cycle time can be shortened.

Japanese Unexamined Patent Publication No. 2016-22563

  However, in Patent Document 1, since the power supply voltage of the motor that is the power source of the robot is high, the electric and electronic parts of the drive circuit system become expensive and the overall price may be high. Further, when a conventional motor is driven with a power supply voltage of 60 V or less, the rotational speed is reduced to 1/5 or less, and there is a problem that the target cycle time in the robot cannot be realized. As described above, with conventional motors, it has been difficult to achieve both cost reduction of electric and electronic parts of the drive circuit system and reduction of cycle time.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

  Application Example 1 A robot according to this application example includes a first member, a second member provided to be rotatable with respect to the first member, and one of the first member and the second member to the other. And a motor having a bobbin and a winding wound around the bobbin, and a rotor rotatably mounted on the stator. The motor has a power supply voltage in a range of 48 to 60 V, a wire diameter of the winding in a range of 0.45 to 0.75 mm, and a winding number of turns of 29 to 44. It is within the range.

  According to this application example, by setting the power supply voltage of the motor within the range of 48 to 60 V, the electric and electronic parts of the motor drive circuit system can be made a general-purpose product. Further, by controlling the wire diameter and the number of turns of the winding, it is possible to control the rotation speed and torque of the motor. Thereby, cost reduction of a motor and performance improvement of a motor can be aimed at. As a result, the robot can reduce the cost and cycle time of the motor.

  The test operation when measuring the cycle time is performed with the maximum speed, maximum acceleration, and maximum deceleration of each arm with a 2 kg weight held at the tip of the robot member (the tip of the arm connection body). , Reciprocating the tip of the arm connector.

  Application Example 2 In the robot according to the application example described above, it is preferable that the output of the motor is in a range of 50 to 600 W.

  According to this application example, it is possible to obtain a size suitable for the robot and sufficient output using such a motor.

  Application Example 3 In the robot according to the application example described above, when the output of the motor is in the range of 50 to 300 W, the wire diameter of the winding is in the range of 0.45 to 0.55 mm. The number of windings is preferably in the range of 29 to 43 times.

  According to this application example, the output of the motor can be adjusted by adjusting the number of winding turns.

  Application Example 4 In the robot according to the application example described above, when the output of the motor is in the range of 100 to 600 W, the wire diameter of the winding is in the range of 0.65 to 0.75 mm. The number of windings is preferably in the range of 34 to 44 times.

  According to this application example, the output of the motor can be adjusted by adjusting the wire diameter of the winding.

  Application Example 5 In the robot according to the application example described above, it is preferable that the sum of the length of the first member and the length of the second member is 400 mm or less.

  According to this application example, a long sum of the length of the first member and the length of the second member can be secured.

  Application Example 6 In the robot according to the application example described above, it is preferable that the robot is a SCARA robot.

  According to this application example, it is possible to provide a SCARA robot that can achieve both cost reduction and cycle time reduction.

  Application Example 7 In the robot according to the application example described above, it is preferable that the robot is a multi-axis robot.

  According to this application example, it is possible to provide a multi-axis robot that can achieve both cost reduction and cycle time reduction.

  [Application Example 8] A motor according to this application example is a motor having a stator including a bobbin and a winding wound around the bobbin, and a rotor rotatably mounted on the stator. The motor has a power supply voltage in a range of 48 to 60 V, a wire diameter of the winding in a range of 0.45 to 0.75 mm, and a winding number of turns in a range of 29 to 44. It is characterized by being.

  According to this application example, by setting the power supply voltage of the motor within the range of 48 to 60 V, the electric and electronic parts of the motor drive circuit system can be made a general-purpose product. Further, by controlling the wire diameter and the number of turns of the winding, it is possible to control the rotation speed and torque of the motor. Thereby, cost reduction of a motor and performance improvement of a motor can be aimed at.

The figure which shows an example of a structure of the robot which concerns on 1st Embodiment. The perspective view which shows an example of a motor unit. Sectional drawing which shows the motor which concerns on 1st Embodiment. The figure which shows the structure of a bobbin. The figure which shows the TN characteristic of the operation | movement of a motor and a robot when the output of a motor is 200 W specification. The figure which shows the TN characteristic of the operation | movement of a motor and a robot when the output of a motor is 100W specification. The figure which shows schematic structure of the robot which concerns on 2nd Embodiment.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, embodiments of the invention will be described with reference to the drawings. Note that the drawings to be used are appropriately enlarged or reduced so that the part to be described can be recognized.

(First embodiment)
(Robot configuration)
First, the configuration of the robot 1 will be described.
FIG. 1 is a diagram illustrating an example of the configuration of the robot 1 according to the present embodiment.
The robot 1 according to this embodiment includes a support base B installed on an installation surface such as a floor surface or a wall surface, and a first member as a first member supported by the support base B so as to be rotatable about a first axis AX1. An arm A1, a second arm A2 as a second member supported by the first arm A1 so as to be rotatable about the second axis AX2, and a third axis AX3 which is rotatable by the second arm A2 and third. A SCARA robot including a shaft S supported so as to be capable of translation in the axial direction of the axis AX3. According to this, it is possible to provide a SCARA robot that can achieve both cost reduction and cycle time reduction.

  The robot 1 may be another robot such as a vertical articulated robot or a rectangular coordinate robot instead of the SCARA robot. The vertical articulated robot may be a single-arm robot having one arm or a double-arm robot having two arms (a multi-arm robot having two arms), or may have three or more arms. A multi-armed robot may be provided. The rectangular coordinate robot is, for example, a gantry robot.

  The shaft S is a cylindrical shaft body. Ball screw grooves and spline grooves (not shown) are formed on the peripheral surface of the shaft S, respectively. In this example, the shaft S has a first direction which is a direction perpendicular to the installation surface on which the support base B is installed, with the end of the second arm A2 opposite to the first arm A1. And is provided. Moreover, the end effector can be attached to the end of the shaft S on the installation surface side. The end effector may be an end effector capable of gripping an object, may be an end effector capable of attracting an object by air, magnetism, or the like, or may be another end effector.

  In this example, the first arm A1 rotates around the first axis AX1, and thus moves in the second direction. The second direction is a direction orthogonal to the first direction described above. The second direction is, for example, a direction along the XY plane in the world coordinate system or the robot coordinate system RC. The first arm A1 is rotated around the first axis AX1 by the motor unit 21 provided in the support base B. It is preferable that the output of the motor 4 described later included in the motor unit 21 is in the range of 100 to 600 W. More preferably, it is 200W. Here, the output of the motor 4 varies depending on, for example, heat dissipation conditions.

  In this example, the second arm A2 rotates around the second axis AX2, and thus moves in the second direction. The second arm A2 is rotated around the second axis AX2 by the motor unit 22 provided in the second arm A2. The second arm A2 includes a motor unit 23 (not shown) and a motor unit 24 (not shown), and supports the shaft S. The motor unit 23 moves (lifts) the shaft S in the first direction by rotating a ball screw nut provided on the outer periphery of the ball screw groove of the shaft S with a timing belt or the like. The motor unit 24 rotates the shaft S around the third axis AX3 by rotating a ball spline nut provided on the outer periphery of the spline groove of the shaft S with a timing belt or the like. The output of the motor 4 included in the motor units 22 to 24 is preferably in the range of 50 to 300 W, and more preferably 100 W. Here, the output of the motor 4 varies depending on, for example, heat dissipation conditions. The motor 4 transmits driving force from one of the first arm A1 and the second arm A2 to the other.

  The sum of the length of the first arm A1 and the length of the second arm A2 is preferably 400 mm or less. According to this, a long sum of the length of the first arm A1 and the length of the second arm A2 can be secured. For example, the length of the first arm A1 is 225 mm, the length of the second arm A2 is 175 mm, and the sum of the length of the first arm A1 and the length of the second arm A2 is 400 mm in the distance between the axial centers.

  Below, the case where each of the motor units 21-24 is provided with the same structure as an example is demonstrated. Note that some or all of the motor units 21 to 24 may be motor units having different configurations. Below, unless it is necessary to distinguish each of the motor units 21-24, these are collectively called the motor unit 2 and demonstrated.

(Configuration of motor unit)
FIG. 2 is a perspective view showing an example of the motor unit 2. Hereinafter, the configuration of the motor unit 2 will be described with reference to FIG.
As shown in FIG. 2, the motor unit 2 includes a motor 4 and an amplifier unit 3.

  The amplifier unit 3 includes a drive circuit that drives the motor 4, a control circuit that controls the drive circuit, and a communication circuit. Here, an outline of the motor unit 2 will be described. The motor unit 2 includes a motor 4 and an amplifier unit 3 including a drive circuit that drives the motor 4. The amplifier unit 3 includes an amplifier cover 32. A power line for supplying power to the motor 4 is bound to the amplifier cover 32. Thereby, the motor unit 2 can suppress that a power line interferes with another object. Hereinafter, such a motor unit 2 will be described in detail. In the following, a case where the motor 4 is an integral motor with an encoder ENC (not shown in FIG. 1) will be described as an example. The motor 4 may be a separate motor from the encoder ENC.

  Hereinafter, for convenience of explanation, a direction from the side opposite to the motor top case MTC to the motor top case MTC among the directions along the rotation axis S1 of the motor 4 is referred to as an upward direction, and the direction from the motor top case MTC to the opposite side. The direction to go is referred to as a downward direction. The motor top case MTC is a member provided at an end of the motor 4 that is opposite to the side from which the rotation axis S1 of the motor 4 protrudes. Here, the above-mentioned encoder ENC is provided at the end of the motor top case MTC at the end opposite to the side from which the rotating shaft S1 of the motor 4 projects. Hereinafter, of the side surfaces of the motor 4 (surface parallel to the vertical direction), the side surface to which the amplifier unit 3 is attached is referred to as the front surface, the side surface facing the front surface is referred to as the rear surface, and the motor 4 is viewed toward the front surface. In this case, a side surface located on the right side is referred to as a right surface, and a side surface facing the right surface is referred to as a left surface.

  In the motor unit 2, the amplifier unit 3 is attached to the front surface of the motor 4. Below, the case where the motor 4 is a three-phase DC motor is demonstrated as an example. The motor 4 may be another motor instead of this. The amplifier unit 3 amplifies electric power supplied via a board provided in the motor 4 and operates the motor 4 in accordance with a control signal supplied via the board. Specifically, when operating the motor 4, the amplifier unit 3 supplies power to each of the three-phase electromagnets included in the motor 4 at a timing according to the control signal. Hereinafter, for convenience of explanation, each of the three phases will be referred to as a U phase, a V phase, and a W phase.

  The amplifier unit 3 supplies power to the U-phase electromagnet of the motor 4 through the power line C2. That is, the power line C <b> 2 is a power line that connects the amplifier unit 3 and the U-phase electromagnet of the motor 4. The amplifier unit 3 supplies power to the V-phase electromagnet of the motor 4 through the power line C3. That is, the power line C3 is a power line that connects the amplifier unit 3 and the V-phase electromagnet of the motor 4. The amplifier unit 3 supplies power to the W-phase electromagnet of the motor 4 through the power line C4. That is, the power line C <b> 4 is a power line that connects the amplifier unit 3 and the W-phase electromagnet of the motor 4.

  In addition, the amplifier unit 3 is supplied with electric power from a substrate included in the motor 4 through an electric power line passing through the pipe C1. The board is supplied with power from a power source (not shown), and supplies the supplied power to the amplifier unit 3 through the power line. Further, the amplifier unit 3 is supplied with a control signal from a substrate provided in the motor 4 by a communication line passing through the pipe C1. The substrate is supplied with a control signal from a robot control device (not shown), and supplies the supplied control signal to the amplifier unit 3 through the communication line. The robot control device is a device that controls the robot 1.

  The amplifier unit 3 has a structure in which an amplifier substrate 33 is stored in the storage unit 30. The amplifier board 33 is a board that includes the above-described drive circuit, control circuit, and communication circuit. In this example, the storage unit 30 is fixed to the heat radiating member 31 and a heat radiating member 31 that constitutes a partition wall on the rear side of the storage unit 30, a partition wall on the left side of the storage unit 30, and a partition wall on the right side of the storage unit 30. The amplifier cover 32 is provided, and does not include an upper partition wall portion and a lower partition wall portion. An amplifier substrate 33 is disposed (fixed) in the storage unit 30 in the partition wall on the rear side of the storage unit 30. Since the storage unit 30 does not include the upper partition wall and the lower partition wall, the storage unit 30 radiates the heat of the amplifier unit 3 (that is, the heat of the amplifier board 33) by the air passing through the storage unit 30. Can do.

  The heat dissipating member 31 includes an attachment portion that can be attached to the front surface of the motor 4 with a bolt BT. Thereby, the motor unit 2 can integrate the motor 4 and the amplifier unit 3 together. A through-hole through which the bolt BT passes is formed in the mounting portion. In the example shown in FIG. 2, the heat dissipation member 31 is attached to the front surface of the motor 4 by the attachment portion and four bolts. The heat dissipating member 31 may be configured to be attached to the front surface of the motor 4 by an attachment jig or an attachment mechanism other than the bolt BT instead of the configuration attached to the front surface of the motor 4 by the bolt BT. Further, the heat radiating member 31 may be configured to be attached to the other side surface of the motor 4 instead of the front surface of the motor 4.

  The amplifier cover 32 is a cover that covers the front surface of the storage unit 30. The amplifier cover 32 is bundled with the power line C2, the power line C3, and the power line C4. Thereby, the motor unit 2 can suppress that each of the power line C2, the power line C3, and the power line C4 interferes with other objects. In addition, the motor unit 2 can suppress each of the power line C2, the power line C3, and the power line C4 from bending beyond the maximum bending radius, and can make the user easily assemble the motor unit 2. it can.

  Specifically, the first binding portion BB1 and the second binding portion BB2 are attached to the front surface of the amplifier cover 32, that is, outside the amplifier cover 32.

  The first binding unit BB1 is connected to the power line C2, the power line C3, and the power line C4 connected to the motor 4 from the amplifier board 33 at the connection positions where the power line C2, the power line C3, and the power line C4 are connected to the motor 4, respectively. 2 is a member that binds at a position relatively closer than the binding portion BB2, for example, a binding clip. In this example, the first binding portion BB1 is attached to the amplifier cover 32 with a screw.

  The second binding unit BB2 connects the power line C2, the power line C3, and the power line C4 connected to the motor 4 from the amplifier board 33 to the connection position where each of the power line C2, the power line C3, and the power line C4 is connected to the amplifier board 33. A member that binds at a position relatively closer to the first binding portion BB1, for example, a binding clip. In this example, the second binding portion BB2 is attached to the amplifier cover 32 with screws.

(motor)
FIG. 3 is a cross-sectional view showing the motor 4 according to the present embodiment. FIG. 4 is a view showing the structure of the bobbin 26.
As shown in FIG. 3, the motor 4 according to the present embodiment includes a housing 10, a rotation shaft S <b> 1, a stator 14 as a stator, and a rotor 16 as a rotor. The motor 4 is not particularly limited, and examples thereof include a servo motor and a stepping motor.

  Bearings 18 and 20 are provided on the upper wall and the bottom wall of the housing 10. The bearings 18 and 20 are rotatably supported by a rotation shaft S1. Or in the housing 10, the rotor 16 is being fixed to rotation axis S1. The rotor 16 has a columnar shape, and includes a core 19 made of a soft magnetic material such as iron, and a permanent magnet 25 provided on the outer periphery of the core 19. A stator 14 is disposed around the rotor 16. The material of the housing 10 is, for example, a conductive metal. The permanent magnet 25 has an annular column shape. The permanent magnet 25 has a multipolar structure in which a plurality of magnetic poles are formed in the circumferential direction.

  As shown in FIG. 4, the stator 14 according to this embodiment includes a coil 42 in which a winding 40 is wound around a bobbin 26, a pin 34 that entangles the winding 40, and a coil connection board (not shown) that electrically connects the coil 42. And). A part of the winding 40 according to the present embodiment is disposed between the coil connection board and the end face 54 of the bobbin 26.

  The bobbin 26 includes a cylindrical core portion (winding portion) 36 that covers the outer peripheral surface of the teeth (not shown), and first and second flange portions 37 and 38 that extend radially at both ends of the core portion 36. Prepare. The bobbin 26 is provided outside the teeth and has a cylindrical core portion 36 around which a winding 40 is wound, a first flange portion 37 extending radially inward from the core portion 36, and a radially outer side from the core portion 36. And a second eaves portion 38 extending in the direction. A pin 34 is fixed to the second flange 38. The second collar portion 38 of the bobbin 26 is provided continuously to the core portion 36.

  The wire diameter of the winding 40 of the motor 4 is in the range of 0.45 to 0.75 mm. The number of windings 40 of the motor 4 is in the range of 29 to 44 times.

  The power supply voltage of the motor 4 is in the range of 48-60V. The output of the motor 4 is in the range of 50 to 600W. According to this, a suitable size and sufficient output for the robot 1 can be obtained using such a motor 4.

(Example)
In the present embodiment, a case where 48 V, 52 V, and 60 V motors 4 whose power source voltage is 60 V or less is assembled in the robot 1 is taken as an example.

FIG. 5 is a diagram illustrating the TN characteristics of the operations of the motor 4 and the robot 1 when the output of the motor 4 is 200 W specification.
In this embodiment, when the output of the motor 4 is 200 W, the wire diameter of the winding 40 is in the range of 0.65 to 0.75 mm. The number of turns of the winding 40 is in the range of 34 to 44. According to this, the output of the motor 4 can be adjusted by adjusting the wire diameter of the winding 40. For example, when the output is 200 W and the power supply voltage is 60 V or less, the wire diameter of the winding 40 is 0.70 mm, and the number of turns of the winding 40 is 39.

  A broken line 60 shown in FIG. 5 is a TN characteristic of the motor 4 when the motor 4 is driven with a power supply voltage of 60V. A broken line 62 is a TN characteristic of the motor 4 when the motor 4 is driven with a power supply voltage of 52V. A broken line 64 is a TN characteristic of the motor 4 when the motor 4 is driven with a power supply voltage of 48V.

  A curve 66 is a TN characteristic of the motor 4 when the robot 1 including the motor 4 is operated as a standard operation, and a standard operation cycle time is 0.54 s. A curve 68 is a TN characteristic of the motor 4 when the robot 1 including the motor 4 is subjected to a P & P operation (long pitch), and a cycle time is 1.56 s. A curve 70 is a TN characteristic of a motor when a robot equipped with a conventional motor is operated as a standard operation, and a cycle time is 0.64 s.

  When the motor 4 of this embodiment is driven by a power supply voltage of 48V, 52V, or 60V, in any case, a TN characteristic that realizes a standard operation cycle time of 0.54 s can be obtained. Further, when the motor 4 is driven by a power supply voltage of 48V, 52V, or 60V, in any case, a TN characteristic that realizes 1.56 s of the P & P operation (long pitch) cycle time can be obtained.

FIG. 6 is a diagram illustrating the TN characteristics of the operation of the motor 4 and the robot 1 when the output of the motor 4 is 100 W specification.
In this embodiment, when the output of the motor 4 is 100 W specification, the wire diameter of the winding 40 is in the range of 0.45 to 0.55 mm. The number of turns of the winding 40 is in the range of 29 to 43. According to this, the output of the motor 4 can be adjusted by adjusting the number of turns of the winding 40. For example, when the output is 100 W and the power supply voltage is 60 V or less, the wire diameter of the winding 40 is 0.50 mm, and the number of turns of the winding 40 is 36.

  A broken line 80 shown in FIG. 6 is a TN characteristic of the motor 4 when the motor 4 is driven with a power supply voltage of 60V. A broken line 82 is a TN characteristic of the motor 4 when the motor 4 is driven with a power supply voltage of 52V. A broken line 84 is a TN characteristic of the motor 4 when the motor 4 is driven with a power supply voltage of 48V.

  A curve 86 is a TN characteristic of the motor 4 when the robot 1 including the motor 4 is normally operated, and a standard operation cycle time is 0.54 s. A curve 88 is a TN characteristic of a motor when a robot equipped with a conventional motor is operated as a standard operation, and a cycle time is 0.64 s.

  When the motor 4 of this embodiment is driven by a power supply voltage of 48V, 52V, or 60V, in any case, a TN characteristic that realizes a standard operation cycle time of 0.54 s can be obtained.

  The features of the robot 1 equipped with the motor 4 of this embodiment are that the arm length is 400 mm, the loadable mass is 1 kg, the power supply voltage is in the range of 48 to 60 V, and the standard operation cycle time is 0.54 s. Thereby, the cost of the electric and electronic parts of the drive circuit system of the motor 4 can be significantly reduced.

  In each operation, the first axis AX1 to the third axis AX3 all move, but the first axis AX1 and the second axis AX2 dominate the operation time.

  In addition, the test operation for measuring the standard operation cycle time includes the maximum speed, the maximum acceleration, and the maximum speed of each arm with a 2 kg weight held at the tip of the robot member (the tip of the arm connection body). It is to reciprocate the tip of the arm coupling body with the maximum deceleration.

  In the forward path and the return path in this reciprocating movement, the ascending operation for moving the tip of the arm coupling body 25 mm upward in the vertical direction, the horizontal movement operation for moving 300 mm in the horizontal direction, and the descending operation for moving 25 mm downward in the vertical direction, respectively. In addition, the ascending operation and the initial horizontal movement operation are simultaneously performed, and the descending operation and the final horizontal movement operation are simultaneously performed. In the P & P operation (long pitch), the horizontal movement distance is 900 mm.

  According to the present embodiment, by setting the power supply voltage of the motor 4 within the range of 48 to 60 V, the electric and electronic parts of the drive circuit system of the motor 4 can be made a general-purpose product. Moreover, the rotation speed and torque of the motor 4 can be controlled by controlling the wire diameter and the number of turns of the winding 40. Thereby, cost reduction of the motor 4 and performance improvement of the motor 4 can be achieved. As a result, the robot 1 can reduce the cost and shorten the cycle time in the motor 4.

(Second Embodiment)
FIG. 7 is a diagram showing a schematic configuration of the robot according to the present embodiment. Hereinafter, the structure of the robot will be described with reference to FIG.

  The robot 100 of this embodiment is different from the first embodiment in that it is a multi-axis robot. Hereinafter, the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted or simplified here.

  As shown in FIG. 7, the robot 100 of the present embodiment includes a motor 4 as in the first embodiment.

  As shown in FIG. 7, the robot 100 according to the present embodiment is a 6-axis vertical articulated robot, and includes a base 111 as a first member, a robot arm 120 connected to the base 111, and a robot arm. A force detector 140 and a hand 130 provided at the front end of 120 are provided. The robot 100 also includes a control device 110 that controls a plurality of drive sources (including the motor 4 and the gear device 102) that generate power for driving the robot arm 120.

  The base 111 is a part for attaching the robot 100 to an arbitrary installation location. In addition, the installation location of the base 111 is not specifically limited, For example, a floor, a wall, a ceiling, on the movable trolley | bogie etc. are mentioned.

  The robot arm 120 includes a first arm (arm) 121, a second arm (arm) 122, a third arm (arm) 123, a fourth arm (arm) 124, and a fifth arm (second member). Arm) 125 and a sixth arm (arm) 126. These arms are connected in this order from the proximal end side to the distal end side. The first arm 121 is connected to the base 111. The first arm 121 includes an arm and is provided so as to be rotatable with respect to the base 111. The motor 4 transmits driving force from one of the base 111 and the first arm 121 to the other. The motor 4 transmits driving force from the base 111 to the first arm 121. The motor 4 transmits driving force from the first arm 121 to the base 111. The motor 4 rotates the first arm 121 with respect to the base 111. For example, a hand 130 (end effector) that holds various components or the like is detachably attached to the tip of the sixth arm 126. The hand 130 includes two fingers 131 and 132, and the fingers 131 and 132 can hold various parts, for example.

  The base 111 is provided with a drive source including a motor 4 such as a servo motor that drives the first arm 121 and a gear device 102 (reduction gear). Although not shown, each of the arms 121 to 126 is also provided with a plurality of drive sources each including a motor and a speed reducer. Each drive source is controlled by the control device 110.

  In such a robot 100, the gear device 102 transmits driving force from one of the base 111 and the first arm 121 to the other. More specifically, the gear device 102 transmits a driving force for rotating the first arm 121 relative to the base 111 from the base 111 side to the first arm 121 side. Here, when the gear device 102 functions as a speed reducer, the driving force can be reduced and the first arm 121 can be rotated with respect to the base 111. Note that “rotation” includes moving in one direction with respect to a certain center point or in both directions including the opposite direction, and rotating with respect to a certain center point.

  In the present embodiment, the base 111 is a “first member”, and the first arm 121 includes an arm, and is provided with a “first member” that is rotatable with respect to the base 111 that is the first member. Two members ". The “second member” may include an arbitrary number of arms selected sequentially from the first arm 121 side among the second to sixth arms 122 to 126. That is, it can be said that a structure formed by an arbitrary number of arms sequentially selected from the first arm 121 side among the first arm 121 and the second to sixth arms 122 to 126 is the “second member”. For example, it can be said that the structure including the first and second arms 121 and 122 is a “second member”, and the entire robot arm 120 is a “second member”. Further, the “second member” may include the hand 130. That is, it can be said that the structure including the robot arm 120 and the hand 130 is the “second member”.

  According to the present embodiment, it is possible to provide a multi-axis robot that can achieve both cost reduction and cycle time reduction.

  The robot of the present invention has been described based on the illustrated embodiment. However, the present invention is not limited to this, and the configuration of each unit may be replaced with an arbitrary configuration having the same function. Can do. Moreover, other arbitrary components may be added.

  Moreover, in the said embodiment, although the 1st surface which is a plane (surface) to which a robot (base) is fixed is a plane (surface) parallel to a horizontal surface, in this invention, it is not limited to this, For example, Further, it may be a horizontal plane, a plane (plane) inclined with respect to the vertical plane, or a plane (plane) parallel to the vertical plane. That is, the rotation axis (first axis AX1) may be inclined with respect to the vertical direction or the horizontal direction, or may be parallel to the horizontal direction.

  The robot of the present invention is not limited to a horizontal articulated robot, and the same effect can be obtained with a vertical articulated robot, a parallel link robot, a double-arm robot, or the like. The robot of the present invention is not limited to a 6-axis robot, and the same effect can be obtained with a robot with 7 or more axes or a robot with 5 or less axes. The robot of the present invention is not limited to an arm type robot (robot arm) as long as it has an arm, and may be another type of robot, for example, a legged walking (running) robot.

  DESCRIPTION OF SYMBOLS 1,100 ... Robot 2, 21-24 ... Motor unit 3 ... Amplifier part 4 ... Motor 10 ... Housing 14 ... Stator (stator) 16 ... Rotor (rotor) 18, 20 ... Bearing 19 ... Core 25 ... Permanent magnet 26 ... Bobbin 30 ... Storage part 31 ... Heat dissipation member 32 ... Amplifier cover 33 ... Amplifier substrate 34 ... Pin 36 ... Core part 37 ... First collar part 38 ... Second collar part 40 ... Winding 42 ... Coil 54 ... End face 60,62 , 64 ... broken line 66, 68, 70 ... curve 80, 82, 84 ... broken line 86, 88 ... curve 102 ... gear unit 110 ... control device 111 ... base (first member) 120 ... robot arm 121 ... first arm ( (Second member) 122 ... second arm 123 ... third arm 124 ... fourth arm 125 ... fifth arm 126 ... sixth arm 30 ... hand 131, 132 ... finger 140 ... force detector A1 ... first arm (first member) A2 ... second arm (second member) AX1 ... first axis AX2 ... second axis AX3 ... third axis B ... Support base BB1 ... first binding part BB2 ... second binding part BT ... bolt C1 ... pipe C2, C3, C4 ... power line ENC ... encoder MTC ... motor top case S ... shaft S1 ... rotating shaft.

Claims (8)

A first member;
A second member rotatably provided with respect to the first member;
A motor for transmitting a driving force from one of the first member and the second member to the other;
Have
The motor is
A stator having a bobbin and a winding wound around the bobbin;
A rotor rotatably mounted on the stator;
Have
The motor is
The power supply voltage is in the range of 48-60V,
The wire diameter of the winding is in the range of 0.45 to 0.75 mm;
The robot according to claim 1, wherein the number of windings is in a range of 29 to 44 times.   The robot according to claim 1, wherein an output of the motor is in a range of 50 to 600 W.   When the output of the motor is in the range of 50 to 300 W, the wire diameter of the winding is in the range of 0.45 to 0.55 mm, and the number of turns of the winding is in the range of 29 to 43. The robot according to claim 2.   When the output of the motor is in the range of 100 to 600 W, the wire diameter of the winding is in the range of 0.65 to 0.75 mm, and the number of turns of the winding is in the range of 34 to 44. The robot according to claim 2.   The robot according to claim 1, wherein the sum of the length of the first member and the length of the second member is 400 mm or less.   The robot according to claim 1, wherein the robot is a SCARA robot.   The robot according to claim 1, wherein the robot is a multi-axis robot. A motor having a stator including a bobbin and a winding wound around the bobbin, and a rotor rotatably mounted on the stator,
The motor is
The power supply voltage is in the range of 48-60V,
The wire diameter of the winding is in the range of 0.45 to 0.75 mm;
The motor according to claim 1, wherein the number of windings is in a range of 29 to 44.