JP2018134705A - Robot and motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot capable of suppressing a deviation between a driven body and a driving shaft equipped to a motor, and capable of performing high precision work.SOLUTION: A robot equipped with a motor, the motor having a first non-circular portion which is a part formed in a non-circular shape at a part where a driven body can be attached to a driving shaft for driving the driven body, and a second non-circular portion which is a part formed in a non-circular shape at a part different from the part where the first non-circular portion is formed, of the part capable of attaching the driven body.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a robot and a motor.

  Research and development of technologies related to motors provided in robots are being conducted.

  In this regard, a small motor comprising a rotor having a laminated core, a winding wound around the laminated core, a commutator, and a thrust bush on the shaft, wherein the laminated core, winding, commutator, A small motor in which a rotor is integrally assembled by combining a thrust bush and the shaft tip of the rotor is cut or ground into a non-circular shape over a predetermined length for coupling with a driven device. Is known (see Patent Document 1).

JP 2001-25221 A

  However, when an object is attached to the shaft of such a small motor, the relative position between the shaft and the object may be shifted due to vibration during driving of the small motor. As a result, for example, a robot including the small motor may not be able to perform highly accurate work.

In order to solve at least one of the above problems, one embodiment of the present invention is a robot including a motor, wherein the motor is not attached to a portion where the driven body can be attached to a driving shaft that drives the driven body. A first non-circular portion that is a portion formed in a circular shape and a portion that is different from the portion where the first non-circular portion is formed among the portions to which the driven body can be attached are formed in a non-circular shape. And a second non-circular portion that is a part of the robot.
With this configuration, in the robot, the motor includes a first non-circular portion that is a non-circular shape in a portion where the driven body can be attached to a drive shaft that drives the driven body, and the driven body. And a second non-circular portion which is a portion formed in a non-circular shape in a portion different from the portion where the first non-circular portion is formed. Thereby, the robot can suppress the deviation between the driven body and the drive shaft provided in the motor, and can perform highly accurate work.

According to another aspect of the present invention, in the robot, the drive shaft is formed with a partition wall that separates the first non-circular portion and the second non-circular portion in a direction along the drive shaft. A configuration may be used.
With this configuration, in the robot, the drive shaft is formed with a partition wall that separates the first non-circular portion and the second non-circular portion in the direction along the drive shaft. Thereby, the robot can suppress the shift | offset | difference to the direction along a drive shaft among the shift | offset | difference of a to-be-driven body and the drive shaft with which a motor is provided.

According to another aspect of the present invention, in the robot, a portion of the drive shaft to which the driven body can be attached is a portion where the first non-circular shape portion is formed. The structure including the front-end | tip which is an edge part by which the said to-be-driven body is attached among these may be used.
With this configuration, in the robot, the portion where the first non-circular portion is formed includes the tip of the drive shaft. Thereby, the robot can suppress the deviation between the driven body and the drive shaft provided in the motor by the first non-circular portion and the second non-circular portion formed at the portion including the tip of the drive shaft. Highly accurate work can be done.

According to another aspect of the present invention, in the robot, the first non-circular portion and the second non-circular portion overlap when the drive shaft is viewed from a direction along the drive shaft. A configuration may be used.
With this configuration, in the robot, the first non-circular portion and the second non-circular portion overlap when the drive axis is viewed from the direction along the drive axis. Thereby, the robot can suppress that the drive shaft with which a motor is equipped will be eccentric.

According to another aspect of the present invention, in the robot, the first non-circular portion and the second non-circular portion do not overlap when the drive shaft is viewed from a direction along the drive shaft. A configuration may be used.
With this configuration, in the robot, the first non-circular portion and the second non-circular portion do not overlap when the drive axis is viewed from the direction along the drive axis. As a result, the robot can more reliably suppress the shift of the drive shaft relative to the drive shaft of the driven body in the rotational direction out of the shift between the driven body and the drive shaft of the motor.

According to another aspect of the present invention, there is provided a first non-circular portion that is a non-circular shape in a portion where the driven body can be attached to a drive shaft that drives the driven body, and the driven It is a motor which has a 2nd non-circular shaped part which is a part formed in the non-circular shape in the part different from the part in which the said 1st non-circular shaped part was formed among the parts which can attach a body.
With this configuration, the motor can attach the driven body to the first non-circular portion that is a non-circular shape in the portion where the driven body can be attached to the drive shaft that drives the driven body. It has the 2nd non-circular shaped part which is a part formed in the non-circular shape in the part different from the part in which the 1st non-circular shaped part was formed among the parts. Thereby, the motor can suppress deviation between the driven body and the drive shaft provided in the motor.

As described above, in the robot, the motor includes the first non-circular portion that is a non-circular portion in the portion where the driven body can be attached to the drive shaft that drives the driven body, and the driven body. And a second non-circular portion which is a portion formed in a non-circular shape in a portion different from the portion where the first non-circular portion is formed. Thereby, the robot can suppress the deviation between the driven body and the drive shaft provided in the motor, and can perform highly accurate work.
The motor includes a first non-circular portion which is a non-circular portion in a portion where the driven body can be attached to a drive shaft for driving the driven body, and a portion where the driven body can be attached. Of these, the second non-circular portion is a portion formed in a non-circular shape in a portion different from the portion where the first non-circular portion is formed. Thereby, the motor can suppress deviation between the driven body and the drive shaft provided in the motor.

It is a figure showing an example of composition of robot 1 concerning an embodiment. 2 is a perspective view showing an example of a configuration of a motor unit 2. FIG. It is the figure of the motor 3 at the time of seeing the motor 3 toward the negative direction of the X-axis in the three-dimensional coordinate system NC. It is the figure of the said motor 3 at the time of seeing the motor 3 shown in FIG. 3 toward the negative direction of the Z-axis in the three-dimensional coordinate system NC. It is the figure of the said motor 3 at the time of seeing the motor 3 toward the negative direction of the Y-axis in the three-dimensional coordinate system NC about the motor 3 shown in FIG. It is a figure of the motor 3 in the case where the first non-circular portion F1 and the second non-circular portion F2 are formed on the drive shaft S1 so as not to overlap.

<Embodiment>
Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Robot configuration>
First, the configuration of the robot 1 will be described.
FIG. 1 is a diagram illustrating an example of a configuration of a robot 1 according to the embodiment. The robot 1 includes a support base B installed on an installation surface such as a floor surface or a wall surface, a first arm A1 supported by the support base B so as to be rotatable about a first axis AX1, and a first arm A1. A second arm A2 supported so as to be rotatable around the two axes AX2, and a shaft S supported so as to be rotatable around the third axis AX3 and translated in the axial direction of the third axis AX3 by the second arm A2. It is a SCARA robot equipped.

  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. In addition, an end effector can be attached to an 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 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 shown in FIG. The first arm A1 is rotated around the first axis AX1 by the motor unit 21 provided in the support base B.

  In this example, the second arm A2 rotates around the second axis AX2 and 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 and a motor unit 24, 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.

  Below, the case where each of the motor unit 21-the motor unit 24 has 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 unit 21-the motor unit 24, these are collectively called the motor unit 2 and demonstrated.

  FIG. 2 is a perspective view showing an example of the configuration of the motor unit 2. The motor unit 2 includes a motor 3 and an amplifier unit 4 having a drive circuit that drives the motor 3. The amplifier unit 4 includes a drive circuit that drives the motor 3, a control circuit that controls the drive circuit, and a communication circuit.

  The motor 3 includes a drive shaft S1 that drives (rotates) the driven body, a drive unit MD that drives (rotates) the drive shaft S1, and an encoder 5 that detects the rotation angle of the drive shaft S1. The drive shaft S1 is a shaft body having a circular cross section. The driven body is an object to be driven (rotated) by the motor 3, and constitutes, for example, a speed reducer, a brake, a pulley, and an arm of the robot 1 (in this example, the first arm A1 and the second arm A2). Member.

  In this example, the motor 3 is an integrated motor with the encoder 5 as shown in FIG. In addition, the amplifier unit 4 is attached to one of the four surfaces that do not intersect the virtual axis along the drive axis S1 among the surfaces of the drive unit MD included in the motor 3. The motor 3 may be a separate motor from the encoder 5. The motor 3 may have a configuration in which the amplifier unit 4 is not attached to the surface of the drive unit MD. In this case, the amplifier unit 4 is attached to an object different from the motor 3 (for example, an inner wall of an arm provided in the robot 1).

  Here, the motor 3 includes a first non-circular portion F1 having a non-circular cross section in a portion PT where the driven body can be attached to the driving shaft S1 for driving the driven body, It has the 2nd non-circular shape part F2 which is a part by which the cross section was formed in the non-circular shape in a part different from the part in which the 1st non-circular shape part F1 was formed among the parts which can attach a drive body. Thereby, the motor 3 can suppress the deviation between the driven body and the drive shaft S <b> 1 included in the motor 3, and can perform highly accurate work. As a result, in the robot 1 including the motor 3, an error due to the deviation is reduced, and highly accurate work can be performed. In addition, the drive shaft S1 is formed with a partition wall portion W1 that separates the first non-circular portion F1 and the second non-circular portion F2 in the direction along the drive shaft S1. Thereby, the motor 3 can suppress the shift | offset | difference to the direction along the drive shaft S1 among the shift | offset | difference with the to-be-driven body and drive shaft S1 with which the motor 3 is provided. Hereinafter, the configuration of the drive shaft S1 will be described in detail.

<Configuration of drive shaft>
Hereinafter, for convenience of explanation, a three-dimensional orthogonal coordinate system in which the direction from the encoder 5 to the drive unit MD out of the two directions along the drive axis S1 included in the motor 3 coincides with the positive direction of the Y axis will be described. This will be described as a three-dimensional coordinate system NC.

  As shown in FIG. 2, each of the first non-circular portion F1 and the second non-circular portion F2 is formed on the drive shaft S1 in the portion PT.

  The first non-circular portion F1 is, for example, a D cut formed on the drive shaft S1. That is, in this example, the portion where the first non-circular portion F1 is formed in the portion PT is on the side of the end portion of the drive shaft S1 to which the driven body is attached (in the example shown in FIG. 2, the encoder 5 includes a tip EG that is an end on the direction side 5 toward the drive unit MD. Note that the portion may be configured so that the tip EG is not included.

  Further, the first non-circular portion F1 in this example is fixed (stopped) so that the driven body does not shift in the rotation direction of the drive shaft S1 with respect to the drive shaft S1 when the driven body is attached. It has the 1st contact surface FM1 which a screw (namely, set screw) contacts. The first contact surface FM1 is, for example, a plane parallel to the direction along the drive axis S1. Note that the first contact surface FM1 may instead be non-parallel to the direction, a curved surface, or a surface having irregularities. Further, the driven body may be configured to be fixed to the drive shaft S1 by another member instead of the configuration fixed to the drive shaft S1 by screws. In this case, when the first non-circular portion F1 is attached to the driven body, the member contacts the first contact surface FM1.

  As described above, the second non-circular portion F2 is a portion formed in a non-circular shape in a portion different from the portion where the first non-circular portion F1 is formed in the portion PT. The second non-circular portion F2 in this example is a screw (fixed) that fixes (stops) the driven body so that it does not shift in the rotational direction of the drive shaft S1 with respect to the drive shaft S1 when the driven body is attached. That is, it has the 2nd contact surface FM2 which a set screw contacts. The second contact surface FM2 is, for example, a plane parallel to the direction along the drive axis S1. Alternatively, the second contact surface FM2 may be non-parallel to the direction, a curved surface, or a surface having irregularities. Further, as described above, the driven body may be configured to be fixed to the drive shaft S1 by another member instead of the configuration fixed to the drive shaft S1 by screws. In this case, when the second non-circular portion F2 is attached to the driven body, the member comes into contact with the second contact surface FM2.

  Here, FIG. 3 is a diagram of the motor 3 when the motor 3 is viewed in the negative direction of the X axis in the three-dimensional coordinate system NC. In the example shown in FIG. 3, of the two directions orthogonal to the first contact surface FM1, the direction from the central axis X1 of the drive shaft S1 to the first contact surface FM1 and the positive direction of the Z axis in the three-dimensional coordinate system NC And are consistent. FIG. 4 is a diagram of the motor 3 when the motor 3 shown in FIG. 3 is viewed in the negative direction of the Z axis in the three-dimensional coordinate system NC. FIG. 5 is a diagram of the motor 3 when the motor 3 shown in FIG. 3 is viewed in the negative direction of the Y axis in the three-dimensional coordinate system NC. The shape of the motor 3 in each of FIGS. 3 to 5 is different from the shape of the motor 3 shown in FIG. 2 in order to simplify the drawings.

  As shown in FIGS. 3 and 4, when the motor 3 is viewed in the negative direction of the X axis or Z axis in the three-dimensional coordinate system NC in FIGS. A partition wall W1 that separates the circular portion F1 and the second non-circular portion F2 is formed. When the driven body is fixed to the drive shaft S1, the motor 3 causes the driven body to contact the drive shaft S1 by bringing a set screw that contacts the second contact surface FM2 into contact with the second contact surface FM2 and the partition wall portion W1. It can suppress shifting in the direction along. The partition wall portion W1 may be configured to separate the first non-circular portion F1 and the second non-circular portion F2 in a direction different from the direction along the drive axis S1. That is, when the motor 3 is viewed in the negative direction of the X axis in the three-dimensional coordinate system NC, a part of the first non-circular part F1 and at least a part of the second non-circular part F2 overlap. There may be. In this case, the drive shaft S1 is formed with a partition wall portion W1 that separates the first non-circular portion F1 and the second non-circular portion F2 in a direction different from the direction along the drive shaft S1, and the drive A partition wall is formed in the direction along the axis S1 to separate the tip EG from the second non-circular portion F2. Even if it is the said case, the motor 3 can suppress that a to-be-driven body slip | deviates to the direction along the drive shaft S1 by the said partition part.

  Further, as shown in FIG. 5, when the motor 3 is viewed on the drive axis S1 in the negative direction of the Y axis (that is, the direction along the drive axis S1) in the three-dimensional coordinate system NC in FIG. The first non-circular portion F1 and the second non-circular portion F2 are formed so as to overlap each other. Thereby, the motor 3 is a set screw for fixing the driven body to the drive shaft S1, and is driven by the pressing force of two or more set screws that come into contact with each of the first contact surface FM1 and the second contact surface FM2. It is possible to suppress the eccentricity of S1.

  As shown in FIG. 6, the motor 3 is seen on the drive shaft S1 in the negative direction of the Y axis (that is, the direction along the drive axis S1) in the three-dimensional coordinate system NC shown in FIG. In this case, the first non-circular portion F1 and the second non-circular portion F2 may be formed so as not to overlap. FIG. 6 is a diagram of the motor 3 when the first non-circular portion F1 and the second non-circular portion F2 are formed on the drive shaft S1 so as not to overlap. In this case, the drive shaft S1 is decentered by the pressing force of two or more set screws that fix the driven body to the drive shaft S1 and are in contact with the first contact surface FM1 and the second contact surface FM2, respectively. However, the motor 3 can more reliably suppress the shift of the drive shaft S1 relative to the drive shaft S1 of the driven body in the rotation direction.

  Further, the drive shaft S1 includes a part of the first non-circular portion F1 when the motor 3 is viewed in the negative direction of the Y axis in the three-dimensional coordinate system NC (that is, the direction along the drive shaft S1). And at least a part of the second non-circular portion F2 may overlap each other. In this case, the drive shaft S1 is decentered by the pressing force of two or more set screws that fix the driven body to the drive shaft S1 and are in contact with the first contact surface FM1 and the second contact surface FM2, respectively. While suppressing this, the motor 3 can suppress the shift of the drive shaft S1 in the rotation direction with respect to the drive shaft S1 of the driven body.

  Two or more second non-circular portions F2 may be formed on the drive shaft S1. In this case, the motor 3 can suppress more reliably that a to-be-driven body and drive shaft S1 shift | deviate compared with the case where the 2nd non-circular shaped part F2 is one.

  As described above, in the robot (in this example, the robot 1), the motor (in this example, the motor 3) causes the driven body to drive the driven body (in this example, the driving axis S1). A first non-circular portion (in this example, the first non-circular portion F1) that is a non-circular shape in the attachable portion (part PT in this example) and a driven body can be attached. A second non-circular part (in this example, the second non-circular part F2) that is a part formed in a non-circular shape in a part different from the part in which the first non-circular part is formed. Have. Thereby, the robot can suppress the deviation between the driven body and the drive shaft provided in the motor, and can perform highly accurate work.

  In the robot, the drive shaft is formed with a partition wall (in this example, a partition wall W1) that separates the first non-circular portion and the second non-circular portion in the direction along the drive shaft. Yes. Thereby, the robot can suppress the shift | offset | difference to the direction along a drive shaft among the shift | offset | difference of a to-be-driven body and the drive shaft with which a motor is provided.

  In the robot, the portion where the first non-circular portion is formed includes the tip of the drive shaft (tip EG in this example). Thereby, the robot can suppress the deviation between the driven body and the drive shaft provided in the motor by the first non-circular portion and the second non-circular portion formed at the portion including the tip of the drive shaft. Highly accurate work can be done.

  In the robot, the first non-circular portion and the second non-circular portion overlap when the drive axis is viewed from the direction along the drive axis. As a result, the robot can more reliably suppress the shift of the drive shaft relative to the drive shaft of the driven body in the rotational direction out of the shift between the driven body and the drive shaft of the motor.

  In the robot, the first non-circular portion and the second non-circular portion do not overlap when the drive axis is viewed from the direction along the drive axis. Thereby, the robot can suppress more reliably the shift | offset | difference of a to-be-driven body and the drive shaft with which a motor is provided.

  The motor includes a first non-circular portion which is a non-circular portion in a portion where the driven body can be attached to a drive shaft for driving the driven body, and a portion where the driven body can be attached. The first non-circular portion has a second non-circular portion which is a portion formed in a non-circular shape in a portion different from the portion where the first non-circular portion is formed, and in the direction along the drive shaft. A partition wall is formed to separate the first non-circular portion from the second non-circular portion. Thereby, the motor can suppress deviation between the driven body and the drive shaft provided in the motor.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and changes, substitutions, deletions, and the like are possible without departing from the gist of the present invention. May be.

DESCRIPTION OF SYMBOLS 1 ... Robot, 21, 21-24 ... Motor unit, 3 ... Motor, 4 ... Amplifier part, Encoder 5, A1 ... 1st arm, A2 ... 2nd arm, AX1 ... 1st axis, AX2 ... 2nd axis, AX3 ... third axis, B ... support base, EG ... tip, F1 ... first non-circular part, F2 ... second non-circular part, FM1 ... first contact surface, FM2 ... second contact surface, MD ... drive part , NC ... three-dimensional coordinate system, PT ... part, S ... shaft, S1 ... drive shaft, W1 ... partition wall, X1 ... central axis

Claims (6)

A robot with a motor,
The motor is
A first non-circular portion which is a non-circular portion in a portion where the driven body can be attached to a drive shaft for driving the driven body, and the first of the portions where the driven body can be attached A second non-circular portion that is a portion formed in a non-circular shape in a portion different from the portion where the non-circular portion is formed;
robot. The drive shaft is formed with a partition wall that separates the first non-circular portion and the second non-circular portion in a direction along the drive shaft.
The robot according to claim 1. The portion where the first non-circular shaped portion is formed includes a tip which is an end portion on the side to which the driven body is attached among the end portions of the drive shaft.
The robot according to claim 1 or 2. The first non-circular portion and the second non-circular portion overlap when the drive shaft is viewed from a direction along the drive shaft.
The robot according to any one of claims 1 to 3. The first non-circular portion and the second non-circular portion do not overlap when the drive shaft is viewed from a direction along the drive shaft.
The robot according to any one of claims 1 to 3. A first non-circular portion which is a non-circular portion in a portion where the driven body can be attached to a drive shaft for driving the driven body, and the first of the portions where the driven body can be attached A second non-circular portion that is a portion formed in a non-circular shape in a portion different from the portion where the non-circular portion is formed;
motor.

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