JP2020069576A - Industrial robot - Google Patents

Abstract

To provide an industrial robot having a speed reducer arranged at a joint part, which can suppress increase in temperature of the joint part caused by heat generated in the speed reducer.SOLUTION: The industrial robot equipped with a joint part 16 comprises a speed reducer 22 arranged at the joint part 16 and a pulley 32 connected to an input side of the speed reducer 22. In the industrial robot, a plurality of heat radiation holes for heat radiation are formed in the pulley 32, which can broaden surface areas of the pulley 32 to enhance heat radiation effect of the pulley 32.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an industrial robot having a joint section.

  Conventionally, an industrial robot that conveys a glass substrate in a vacuum is known (see, for example, Patent Document 1). The industrial robot described in Patent Document 1 includes a hand on which a glass substrate is mounted, an arm to which the hand is rotatably connected to the tip side, and a main body to which the base end side of the arm is rotatably connected. Is equipped with. The arm is composed of a first arm portion whose proximal end side is rotatably connected to the main body portion, and a second arm portion whose proximal end side is rotatably connected to the tip end side of the first arm portion. .. A hand is rotatably connected to the tip end side of the second arm portion.

  In the industrial robot described in Patent Document 1, the hand and the arm are arranged in vacuum. The first arm portion and the second arm portion are formed in a hollow shape. The pressure inside the first arm portion and the second arm portion is atmospheric pressure. Inside the first arm portion, there are a first motor for rotating the second arm portion with respect to the first arm portion and a second motor for rotating the hand with respect to the second arm portion. It is arranged. A speed reducer that decelerates the rotation of the first motor and transmits the decelerated rotation of the first motor to the second arm is disposed at the joint that serves as a connection between the first arm and the second arm. The speed reducer is a hollow speed reducer, and a hollow rotary shaft is arranged on the inner peripheral side of the speed reducer.

  Further, in the industrial robot described in Patent Document 1, a pulley is fixed to the input shaft of the speed reducer. The power of the first motor is transmitted to the pulley via a belt. A rolling bearing is arranged on the inner peripheral side of the pulley. The inner ring of the rolling bearing is fixed to the hollow rotary shaft. The inner peripheral surface of the pulley is in contact with the outer peripheral surface of the outer ring of the rolling bearing at a predetermined contact pressure, and the frictional force between the outer peripheral surface of the outer ring of the rolling bearing and the inner peripheral surface of the pulley causes the pulley and the outer ring to contact each other. And rotate together. A pulley is fixed to the lower end of the hollow rotary shaft, and the power of the second motor is transmitted to the pulley via a belt.

JP, 2014-144527, A

  In the industrial robot described in Patent Document 1, heat is generated by the speed reducer arranged at the joint. When heat is generated in the speed reducer, the temperature of the joint increases due to the heat generated in the speed reducer, which may damage components such as rolling bearings arranged in the joint. Therefore, in the industrial robot described in Patent Document 1, it is preferable that the heat generated in the speed reducer can be efficiently dissipated and the temperature rise of the joint can be suppressed.

  Therefore, an object of the present invention is to provide an industrial robot in which a speed reducer is arranged in a joint part, which can suppress an increase in temperature of the joint part due to heat generated in the speed reducer. is there.

  In order to solve the above-mentioned problems, an industrial robot of the present invention is an industrial robot including a joint part, which includes a speed reducer arranged at the joint part and a pulley connected to an input side of the speed reducer. Is formed with a plurality of heat dissipation holes for heat dissipation.

  In the industrial robot of the present invention, the pulley has a plurality of heat dissipation holes for heat dissipation. Therefore, in the present invention, it is possible to increase the surface area of the pulley and enhance the heat radiation effect of the pulley. Therefore, in the present invention, the heat generated in the speed reducer can be efficiently dissipated by using the pulley connected to the input side of the speed reducer and transmitting the heat generated in the speed reducer. As a result, in the present invention, it is possible to suppress the temperature rise of the joint portion due to the heat generated in the speed reducer.

  In the present invention, the heat dissipation hole preferably penetrates the pulley in the thickness direction of the pulley which is orthogonal to the radial direction of the pulley. According to this structure, the surface area of the pulley can be increased and the heat radiation effect of the pulley can be increased as compared with the case where the heat radiation hole is formed to be recessed in the pulley thickness direction or the pulley radial direction, for example. Will be possible. Further, with this structure, it is possible to easily form the heat dissipation hole in the pulley, as compared with the case where the heat dissipation hole is formed so as to be recessed in the radial direction of the pulley.

  In the present invention, it is preferable that the plurality of heat radiation holes are arranged at a predetermined interval in the circumferential direction of the pulley, and that the blades for blowing air are formed between the heat radiation holes in the circumferential direction of the pulley. According to this structure, it is possible to more efficiently dissipate the heat generated in the speed reducer by using the wind generated when the pulley rotates. Further, according to this structure, when the pulley rotates, an air flow is generated around the pulley, so that the pulley can be cooled efficiently, so that the reduction of the heat radiation effect of the pulley is suppressed. Will be possible. Therefore, it becomes possible to effectively suppress the temperature rise of the joint portion due to the heat generated in the speed reducer.

  Further, in order to solve the above-mentioned problems, an industrial robot of the present invention is an industrial robot including a joint portion, which includes a reducer arranged at the joint portion and a pulley connected to an input side of the reducer. A heat radiation member for heat radiation is fixed to the pulley or is integrally formed with the pulley.

  In the industrial robot of the present invention, the heat dissipation member for heat dissipation is fixed to the pulley or is integrally formed. Therefore, in the present invention, the surface integration of the heat dissipation member and the surface area of the members (that is, the pulley and the heat dissipation member) connected to the input side of the speed reducer can be increased to enhance the heat dissipation effect of this member. Therefore, in the present invention, it is possible to efficiently dissipate the heat generated in the speed reducer by using the pulley and the heat dissipation member that are connected to the input side of the speed reducer and through which the heat generated in the speed reducer is transmitted. As a result, in the present invention, it is possible to suppress the temperature rise of the joint portion due to the heat generated in the speed reducer.

  In the present invention, it is preferable that the heat dissipation member is provided with at least one of a plurality of heat dissipation holes for heat dissipation and a plurality of unevenness for heat dissipation. According to this structure, it is possible to increase the surface area of the heat dissipation member and enhance the heat dissipation effect of the heat dissipation member. Therefore, it becomes possible to more efficiently dissipate the heat generated in the speed reducer by using the pulley and the heat dissipation member, and as a result, it is possible to effectively suppress the temperature rise of the joint portion due to the heat generated in the speed reducer. It will be possible.

  In the present invention, it is preferable that the heat dissipation member is formed with a plurality of blades for blowing air. According to this structure, it is possible to more efficiently dissipate the heat generated in the speed reducer by using the wind generated when the heat dissipation member rotates together with the pulley. Further, with this configuration, when the heat dissipation member rotates together with the pulley, an air flow is generated around the pulley and the heat dissipation member, so that the pulley and the heat dissipation member can be efficiently cooled. It is possible to suppress deterioration of the heat radiation effect of the pulley and the heat radiation member. Therefore, it becomes possible to effectively suppress the temperature rise of the joint portion due to the heat generated in the speed reducer.

  In the present invention, it is preferable that the heat dissipation member is formed in a flat plate shape, and the thickness direction of the pulley orthogonal to the radial direction of the pulley and the thickness direction of the heat dissipation member match. According to this structure, even if the heat dissipation member is fixed to the pulley or is integrally formed with the pulley, the heat dissipation member is less likely to be a rotational resistance of the pulley when the pulley rotates. Therefore, it is possible to suppress the influence of the heat radiation member on the rotation of the pulley.

  Further, in order to solve the above-mentioned problems, an industrial robot of the present invention is an industrial robot having a joint portion, which includes a reduction gear arranged at the joint portion and a pulley connected to an input side of the reduction gear. A plurality of unevenness for heat dissipation is formed on the surface of the pulley.

  In the industrial robot of the present invention, a plurality of unevenness for heat dissipation is formed on the surface of the pulley. Therefore, in the present invention, it is possible to increase the surface area of the pulley and enhance the heat radiation effect of the pulley. Therefore, in the present invention, the heat generated in the speed reducer can be efficiently dissipated by using the pulley connected to the input side of the speed reducer and transmitting the heat generated in the speed reducer. As a result, in the present invention, it is possible to suppress the temperature rise of the joint portion due to the heat generated in the speed reducer.

  In the present invention, the pulley is preferably made of aluminum alloy. According to this structure, since the pulley is formed of the aluminum alloy having high thermal conductivity, the pulley is connected to the input side of the speed reducer and the heat generated in the speed reducer is transmitted to the pulley to generate the speed reducer. It enables heat to be dissipated more efficiently.

  In the present invention, the pulley is preferably fixed to the input shaft of the speed reducer and is in contact with the input shaft of the speed reducer. With this configuration, the pulley is connected to the input shaft of the speed reducer via a predetermined member, and the pulley is in contact with the input shaft of the speed reducer compared to the case where the pulley is not in contact with the input shaft of the speed reducer. The heat generated by the speed reducer can be dissipated more efficiently by using the pulley.

  In the present invention, the industrial robot may include, for example, a hand on which an object to be conveyed is mounted, an arm to which the hand is rotatably connected to a tip side, and a body portion to which a base end side of the arm is rotatably connected. The arm includes a first arm portion whose proximal end side is rotatably connected to the main body portion, and a proximal end side is rotatably connected to the distal end side of the first arm portion and a hand is attached to the distal end side. A second arm portion that is rotatably connected is provided, and a speed reducer and a pulley are arranged at a joint portion that is a connecting portion between the first arm portion and the second arm portion.

  As described above, according to the present invention, in the industrial robot in which the reduction gear is arranged in the joint, it is possible to suppress the temperature rise of the joint caused by the heat generated in the reduction gear.

It is a figure which shows the industrial robot concerning embodiment of this invention, (A) is a top view, (B) is a side view. It is sectional drawing for demonstrating the internal structure of the joint part shown in FIG. 1 from a side surface. It is an enlarged view of the E section of FIG. FIG. 3 is a perspective view of the pulley shown in FIG. 2. It is a perspective view of a pulley concerning other embodiments of the present invention. It is a perspective view of a pulley concerning other embodiments of the present invention. It is a perspective view of a pulley concerning other embodiments of the present invention. (A) is a plan view of a pulley according to another embodiment of the present invention, (B) is a cross-sectional view of the FF cross section of (A).

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

(Overall structure of industrial robot)
FIG. 1 is a diagram showing an industrial robot 1 according to an embodiment of the present invention, (A) is a plan view, and (B) is a side view. FIG. 2 is a cross-sectional view for explaining the internal structure of the joint section 16 shown in FIG. 1 from the side.

  The industrial robot 1 (hereinafter, referred to as "robot 1") of the present embodiment includes a glass substrate 2 (hereinafter, referred to as "substrate 2") for an organic EL (organic electroluminescence) display, which is an object to be transported. It is a horizontal articulated robot for transportation. The robot 1 is used by being incorporated in a manufacturing system of an organic EL display. The robot 1 includes a hand 3 on which the substrate 2 is mounted, an arm 4 to which the hand 3 is rotatably connected to the tip side, and a main body 5 to which the base end side of the arm 4 is rotatably connected. ing.

  The robot 1 also includes a case body 7 in which the main body 5 is housed. An elevating mechanism (not shown) for elevating the main body 5 is housed in the case body 7. A disk-shaped flange 8 is fixed to the upper end of the case body 7. The flange 8 is formed with a through hole in which the upper end portion of the main body 5 is arranged. In addition, in FIG. 1 (A), illustration of the case body 7 and the flange 8 is omitted.

  The hand 3 and the arm 4 are arranged above the main body 5. Further, the hand 3 and the arm 4 are arranged above the flange 8. A portion of the robot 1 above the lower end surface of the flange 8 is arranged inside a vacuum chamber that constitutes a manufacturing system for an organic EL display. That is, the portion of the robot 1 above the lower end surface of the flange 8 is arranged in the vacuum region VR, and the hand 3 and the arm 4 are arranged in vacuum. On the other hand, the portion of the robot 1 below the lower end surface of the flange 8 is arranged in the atmosphere region AR (in the atmosphere). The robot 1 conveys the substrate 2 in a vacuum.

  The hand 3 includes a base portion 10 connected to the arm 4 and four linear fork portions 11 on which the substrate 2 is mounted. The arm 4 is composed of two arm portions, a first arm portion 13 and a second arm portion 14. The first arm portion 13 and the second arm portion 14 are formed in a hollow shape. The base end side of the first arm portion 13 is rotatably connected to the main body portion 5. The base end side of the second arm portion 14 is rotatably connected to the tip end side of the first arm portion 13. The hand 3 (specifically, the base portion 10) is rotatably connected to the tip end side of the second arm portion 14. The second arm portion 14 is arranged above the first arm portion 13. Further, the hand 3 is arranged above the second arm portion 14.

  A joint portion between the arm 4 and the main body portion 5 (that is, a joint portion between the first arm portion 13 and the main body portion 5) is a joint portion 15. The joint portion between the first arm portion 13 and the second arm portion 14 is a joint portion 16. A joint portion between the arm 4 and the hand 3 (that is, a joint portion between the second arm portion 14 and the hand 3) is a joint portion 17. That is, the robot 1 includes three joint parts 15 to 17.

  The case body 7 accommodates a rotation mechanism (not shown) for rotating the first arm portion 13 with respect to the main body portion 5. The rotating mechanism includes a motor and a speed reducer that reduces the rotation of the motor and transmits the decelerated rotation to the first arm unit 13. A magnetic fluid seal (not shown) is arranged in the joint portion 15 to prevent air from flowing into the vacuum region VR. Further, a bellows (not shown) for preventing the inflow of air into the vacuum region VR is arranged in the joint portion 15. The bellows is arranged on the outer peripheral side of the magnetic fluid seal and expands and contracts when the main body portion 5 moves up and down.

  As described above, the first arm portion 13 and the second arm portion 14 are hollow. That is, the arm 4 is formed in a hollow shape. The pressure inside the first arm portion 13 and the second arm portion 14 which are formed in a hollow shape is atmospheric pressure. That is, the pressure inside the arm 4 is atmospheric pressure. Inside the first arm portion 13, a first motor 20 which is a drive source for rotating the second arm portion 14 with respect to the first arm portion 13, and a hand 3 with respect to the second arm portion 14. A second motor 21, which is a drive source for rotating the motor, is arranged. That is, the first motor 20 and the second motor 21 are arranged inside the arm 4.

  A speed reducer 22 for transmitting the power of the first motor 20 to the second arm portion 14 is arranged in the joint portion 16. The speed reducer 22 decelerates the rotation of the first motor 20 and transmits it to the second arm portion 14. The speed reducer 22 is a hollow speed reducer in which a through hole is formed in the radial center of the speed reducer 22. Specifically, the speed reducer 22 is a hollow wave gear device. The speed reducer 22 includes an input shaft 23 and an output shaft 24 that are hollow. The input shaft 23 is arranged so that the axial direction of the input shaft 23 and the vertical direction coincide with each other. Further, the output shaft 24 is arranged so that the axial direction of the output shaft 24 and the vertical direction coincide with each other. The output shaft 24 is arranged above the input shaft 23.

  The speed reducer 22 also includes a bearing 25 that rotatably supports the output shaft 24, and a magnetic fluid seal 26 that is arranged on the outer peripheral side of the output shaft 24. Further, the speed reducer 22 includes a rigid internal gear 28, a flexible external gear 29, a wave bearing 30 attached to the outer peripheral side of the input shaft 23, a case body 31 holding the bearing 25 and the magnetic fluid seal 26. It has and.

  The upper end portion of the case body 31 is fixed to the upper surface side of the tip end portion of the first arm portion 13. The bearing 25 is a cross roller bearing. The outer ring of the bearing 25 is fixed to the upper end of the case body 31. The inner ring of the bearing 25 is fixed to the output shaft 24. The upper end surface of the output shaft 24 is fixed to the lower surface of the base end portion of the second arm portion 14. The magnetic fluid seal 26 is arranged on the upper side of the bearing 25 and has a function of preventing air from flowing into the vacuum region VR. The magnet and pole piece of the magnetic fluid seal 26 are fixed to the inner peripheral surface of the upper end portion of the case body 31. The magnetic fluid is held between the inner peripheral surface of the pole piece and the outer peripheral surface of the output shaft 24.

  The input shaft 23 is rotatably supported by the lower end of the case body 31 via a bearing. The input shaft 23 is formed with an elliptical portion whose outer peripheral surface has an elliptical shape when viewed from above and below. The rigid internal gear 28 is fixed to the lower end of the case body 31. Internal teeth are formed on the inner peripheral surface of the rigid internal gear 28. The upper end of the flexible external gear 29 is fixed to the lower end of the output shaft 24. External teeth that mesh with the internal teeth of the rigid internal gear 28 are formed on the outer peripheral surface of the lower end of the flexible external gear 29. The flexible external gear 29 is rotatable relative to the input shaft 23.

  The wave bearing 30 is a ball bearing having a flexible inner ring and an outer ring. The wave bearing 30 is arranged along the outer peripheral surface of the elliptical portion of the input shaft 23 and is bent in an elliptical shape. The lower end portion of the flexible external gear 29 on which the external teeth are formed is arranged on the outer peripheral side of the wave bearing 30 so as to surround the wave bearing 30, and this portion is bent in an elliptical shape. The external teeth of the flexible external gear 29 mesh with the internal teeth of the rigid internal gear 28 at two locations in the longitudinal direction of the lower end side portion of the flexible external gear 29 that bends in an elliptical shape. .. When the power of the first motor 20 is transmitted to the speed reducer 22, heat is mainly generated in the speed reducer 22 at the meshing portion of the rigid internal gear 28 and the flexible external gear 29.

  A pulley 32 is connected to the input side of the speed reducer 22. Specifically, the pulley 32 is fixed to the input shaft 23 of the speed reducer 22. The pulley 32 is fixed to the lower end of the input shaft 23. The pulley 32 is rotatably supported by the lower end of the case body 31 via a bearing, and is rotatable with respect to the case body 31 together with the input shaft 23. At the center of the pulley 32, a through hole that penetrates in the vertical direction is formed. The power of the first motor 20 is transmitted to the pulley 32 via a belt 33. The belt 33 is a toothed belt.

  A hollow rotary shaft 34 is arranged on the inner peripheral side of the speed reducer 22. Specifically, the hollow rotary shaft 34 is arranged on the inner peripheral side of the input shaft 23, the output shaft 24, and the pulley 32. The hollow rotating shaft 34 is formed in a vertically elongated cylindrical shape. A bearing 35 is arranged between the outer peripheral surface of the hollow rotary shaft 34 and the inner peripheral surface of the output shaft 24. A bearing 36 is arranged between the outer peripheral surface of the hollow rotary shaft 34 and the inner peripheral surface of the pulley 32.

  A pulley 37 is fixed to the lower end of the hollow rotary shaft 34. At the center of the pulley 37, a through hole that penetrates in the vertical direction is formed. The pulley 37 is arranged below the pulley 32. The power of the second motor 21 is transmitted to the pulley 37 via a belt 38. The belt 38 is a toothed belt. A pulley 39 is fixed to the upper end of the hollow rotary shaft 34. At the center of the pulley 39, a through hole that penetrates in the vertical direction is formed. The pulley 39 is arranged inside the base end side of the second arm portion 14.

  A reducer (not shown) that reduces the rotation of the second motor 21 and transmits the rotation to the hand 3 is arranged in the joint portion 17. Like the speed reducer 22, this speed reducer is a hollow wave gear device. A pulley (not shown) is fixed to the input shaft of the speed reducer, and a belt 40 is stretched over the pulley and the pulley 39. The belt 40 is a toothed belt. The output shaft of the speed reducer is fixed to the hand 3, and the case body is fixed to the tip of the second arm portion 14.

(Structure of joint)
FIG. 3 is an enlarged view of part E in FIG. FIG. 4 is a perspective view of the pulley 32 shown in FIG.

  As described above, the reduction gear 22 is arranged in the joint portion 16. Further, a pulley 32 and a bearing 36 are arranged in the joint section 16. Further, the joint portion 16 is provided with a tubular sleeve 45 arranged between the bearing 36 and the pulley 32 in the radial direction of the pulley 32.

  The bearing 36 is a rolling bearing. Specifically, the bearing 36 is a ball bearing (ball bearing), and includes a steel inner ring 36a, a steel outer ring 36b, and a plurality of steel balls arranged between the inner ring 36a and the outer ring 36b. And 36c. The inner ring 36a is fixed to the hollow rotary shaft 34 by a screw 46 inserted in the pulley 37 in a state of being sandwiched between the hollow rotary shaft 34 and the pulley 37 in the vertical direction.

  Specifically, a contact surface with which the upper end surface of the inner ring 36a contacts is formed at the lower end of the hollow rotary shaft 34, and this contact surface is an annular flat surface orthogonal to the vertical direction. .. Further, a through hole into which the screw 46 is inserted is formed in the pulley 37 so as to penetrate the pulley 37 in the vertical direction, and a screw hole into which the upper end of the screw 46 is screwed is formed in the lower end surface of the hollow rotary shaft 34. Has been formed. The inner ring 36a is sandwiched between the contact surface of the hollow rotary shaft 34 and the upper surface of the pulley 37, and is hollow by the screw 46 that is inserted into the through hole of the pulley 37 and screwed into the screw hole of the hollow rotary shaft 34. It is fixed to the rotating shaft 34. Further, the pulley 37 is fixed to the hollow rotary shaft 34 with a screw 46.

  The pulley 32 is made of an aluminum alloy. Further, the pulley 32 is formed by casting. As described above, the through hole that penetrates in the vertical direction is formed in the center of the pulley 32. The pulley 32 includes an annular belt engaging portion 32a with which the belt 33 engages, and an annular fixed portion 32b that is fixed to the input shaft 23. The belt engaging portion 32a constitutes a lower portion of the pulley 32, and the fixed portion 32b constitutes an upper portion of the pulley 32.

  The outer diameter of the belt engaging portion 32a is larger than the outer diameter of the fixed portion 32b. The inner diameter of the belt engaging portion 32a is larger than the inner diameter of the fixed portion 32b. A step surface 32c is formed at the boundary between the inner peripheral surface of the belt engaging portion 32a and the inner peripheral surface of the fixed portion 32b. The step surface 32c is a plane orthogonal to the vertical direction. The step surface 32c is an annular plane centered on the shaft center of the pulley 32. A plurality of teeth are formed on the outer peripheral surface of the belt engaging portion 32a. A through hole through which a screw 47 for fixing the pulley 32 to the input shaft 23 is inserted is formed in an inner portion of the fixed portion 32b in the radial direction of the pulley 32. The through hole penetrates the fixed portion 32b in the vertical direction.

  A plurality of heat dissipation holes 32d for heat dissipation are formed in the pulley 32. Specifically, a plurality of heat radiation holes 32d are formed in the belt engaging portion 32a. The heat radiation hole 32d penetrates the pulley 32 in the thickness direction of the pulley 32 which is orthogonal to the radial direction of the pulley 32. That is, the heat radiation hole 32d penetrates the belt engaging portion 32a in the vertical direction. The plurality of heat dissipation holes 32d are arranged at predetermined intervals in the circumferential direction of the pulley 32. Specifically, the plurality of heat dissipation holes 32d are arranged at regular intervals in the circumferential direction of the pulley 32.

  A blade 32e for blowing air is formed between the heat radiation holes 32d in the circumferential direction of the pulley 32. That is, the plurality of blades 32e for blowing air are integrally formed on the pulley 32, and the pulley 32 that is rotated by the power of the first motor 20 is a fan (blower). When viewed from the thickness direction (that is, the vertical direction) of the pulley 32, the plurality of blades 32e are arranged radially with respect to the axial center of the pulley 32.

  The blade 32e has a rectangular shape when viewed from the up and down direction. Alternatively, the blade 32e has a trapezoidal shape in which the width of the blade 32e in the circumferential direction of the pulley 32 gradually increases toward the outer side in the radial direction of the pulley 32 when viewed from the up and down direction. The upper surface and the lower surface of the blade 32e are inclined surfaces that incline toward one side in the up-down direction as they approach one side in the circumferential direction of the pulley 32.

  When the pulley 32 rotates in one direction, a wind flowing upward is generated, and when the pulley 32 rotates in the other direction, a wind flowing downward is generated. That is, as described above, since the pulley 32 is fixed to the lower end of the input shaft 23, when the pulley 32 rotates in one direction, wind that flows from the pulley 32 toward the speed reducer 22 is generated, and the pulley 32 does not move to the other side. When rotating in the direction, wind that flows from the speed reducer 22 toward the pulley 32 is generated. The pulley 32 of the present embodiment functions as a cooling fan that cools the speed reducer 22 with air.

  In the present embodiment, the annular flange 32f, which is arranged so as to vertically sandwich the plurality of teeth formed on the outer peripheral surface of the belt engaging portion 32a, is formed separately from the belt engaging portion 32a. .. The flange portion 32f is press-fitted and fixed to the belt engaging portion 32a. However, the collar portion 32f may be formed integrally with the belt engaging portion 32a.

  The sleeve 45 is made of steel. The sleeve 45 includes a cylindrical cylindrical portion 45a and an annular ring portion 45b connected to one end of the cylindrical portion 45a. The cylindrical portion 45a is arranged so that the axial direction of the cylindrical portion 45a and the vertical direction coincide with each other. The annular portion 45b is connected to the upper end of the cylindrical portion 45a. The annular portion 45b is connected to the inner peripheral side of the cylindrical portion 45a. The cylindrical portion 45a and the annular portion 45b are coaxially arranged.

  The outer diameter of the cylindrical portion 45a is substantially equal to the inner diameter of the belt engaging portion 32a. The inner diameter of the annular portion 45b is substantially equal to the inner diameter of the fixed portion 32b. The outer peripheral surface of the cylindrical portion 45a is in contact with the inner peripheral surface of the belt engaging portion 32a. The upper surface of the annular portion 45b is in contact with the step surface 32c. The annular portion 45b is formed with a through hole into which the screw 47 is inserted. The through hole penetrates the annular portion 45b in the vertical direction.

  The sleeve 45 is fixed to the pulley 32 and the input shaft 23. Further, as described above, the pulley 32 is fixed to the lower end of the input shaft 23. Specifically, in the vertical direction, the pulley 32 and the sleeve 45 have a through hole of the annular portion 45b and a fixed portion 32b sandwiched between the lower end surface of the input shaft 23 and the annular portion 45b. It is fixed to the input shaft 23 by a screw 47 inserted through the through hole of the fixed portion 32b. A screw hole into which the upper end of the screw 47 is screwed is formed on the lower end surface of the input shaft 23.

  The upper end surface of the fixed portion 32b is in contact with the lower end surface of the input shaft 23. That is, the pulley 32 is in contact with the input shaft 23. The sleeve 45 is arranged between the outer ring 36 b of the bearing 36 and the pulley 32 in the radial direction of the pulley 32. The inner peripheral surface of the sleeve 45 is in contact with the outer peripheral surface of the outer ring 36b of the bearing 36 with a predetermined contact pressure. Specifically, the cylindrical portion 45a of the sleeve 45 is arranged between the outer ring 36b of the bearing 36 and the belt engaging portion 32a of the pulley 32 in the radial direction of the pulley 32, and the inner peripheral surface of the cylindrical portion 45a is The outer ring 36b is in contact with the outer peripheral surface thereof at a predetermined contact pressure. In this embodiment, the outer ring 36b is fitted in the sleeve 45 by intermediate fitting.

(Main effects of this embodiment)
As described above, in this embodiment, the pulley 32 is formed with the plurality of heat dissipation holes 32d for heat dissipation. Therefore, in this embodiment, the surface area of the pulley 32 can be increased to enhance the heat radiation effect of the pulley 32. Therefore, in the present embodiment, the heat generated in the speed reducer 22 is efficiently dissipated in the atmosphere by using the pulley 32 that is fixed to the input shaft 23 of the speed reducer 22 and to which the heat generated in the speed reducer 22 is transferred. Will be possible. As a result, in this embodiment, it is possible to suppress the temperature rise of the joint portion 16 due to the heat generated in the speed reducer 22.

  In particular, in this embodiment, the pulley 32 is made of an aluminum alloy having a high thermal conductivity and is in contact with the input shaft 23 of the speed reducer 22, so that the heat generated in the speed reducer 22 can be more efficiently generated by using the pulley 32. Can be dissipated to. Further, in the present embodiment, since the plurality of blades 32e for blowing air are formed in the pulley 32, the wind generated when the pulley 32 rotates is used to more efficiently generate the heat in the speed reducer 22. It becomes possible to dissipate. Further, since the plurality of blades 32e are formed on the pulley 32, when the pulley 32 rotates, a flow of air is generated around the pulley 32, and the pulley 32 can be efficiently cooled. As a result, it is possible to suppress a decrease in the heat radiation effect of the pulley 32. Therefore, in this embodiment, it is possible to effectively suppress the temperature rise of the joint portion 16 due to the heat generated in the speed reducer 22.

  Further, in this embodiment, the heat generated in the speed reducer 22 can be efficiently dissipated in the atmosphere by using the pulley 32, so that the speed reducer 22 generates the heat without increasing the number of parts of the robot 1. It is possible to suppress an increase in the temperature of the joint portion 16 due to heat.

  In the present embodiment, the heat dissipation hole 32d penetrates the pulley 32 in the thickness direction of the pulley 32. Therefore, in the present embodiment, the surface area of the pulley 32 is increased to increase the surface area of the pulley 32 as compared with the case where the heat dissipation hole 32d is formed to be recessed in the thickness direction of the pulley 32 or the radial direction of the pulley 32, for example. It is possible to enhance the heat dissipation effect. Further, as compared with the case where the heat radiation hole 32d is formed so as to be recessed in the radial direction of the pulley 32, the heat radiation hole 32d can be easily formed in the pulley 32.

(Modification 1 of pulley)
5 and 6 are perspective views of a pulley 32 according to another embodiment of the present invention. Note that, in FIGS. 5 and 6, the same components as those in the above-described embodiment are denoted by the same reference numerals.

  As shown in FIG. 5, the blade 32e may have a linear shape when viewed from above and below. In this case, for example, the upper and lower end surfaces of the blade 32e are orthogonal to the vertical direction. Further, for example, the central portion of the blade 32e in the vertical direction bulges toward both sides of the pulley 32 in the circumferential direction.

  Further, as shown in FIG. 6, a plurality of blades 32e formed separately from the pulley 32 may be fixed to the pulley 32. In this case, for example, the plurality of blades 32e are integrally formed. The plurality of blades 32e are formed by bending a thin metal plate into a predetermined shape. Further, in this case, for example, a plurality of circular heat radiation holes 32d penetrating the pulley 32 in the vertical direction are formed in the pulley 32, and positions where the heat radiation holes 32d are formed in the circumferential direction of the pulley 32. The blade 32e is disposed in the. In addition, in FIG. 6, the pulley 32 is illustrated from the lower side. Further, in FIG. 6, the illustration of the collar portion 32f is omitted.

(Modification 2 of pulley)
FIG. 7 is a perspective view of a pulley 32 according to another embodiment of the present invention. Note that, in FIG. 7, the same components as those in the above-described embodiment are denoted by the same reference numerals.

  As shown in FIG. 7A, the heat dissipation member 50 for heat dissipation may be fixed to the pulley 32 or may be integrally formed. That is, the heat dissipation member 50 formed separately from the pulley 32 may be fixed to the pulley 32, or the heat dissipation member 50 may be formed integrally with the pulley 32. The heat dissipation member 50 is formed of a metal material having high thermal conductivity. For example, the heat dissipation member 50 is formed of an aluminum alloy. Further, the heat dissipation member 50 is formed in a flat plate shape, for example. Specifically, the heat dissipation member 50 is formed in a disc shape. The heat dissipation member 50 is arranged so that the thickness direction of the heat dissipation member 50 and the thickness direction (vertical direction) of the pulley 32 coincide with each other. Further, the heat dissipation member 50 is arranged above the belt engaging portion 32a.

  In this case, the surface integration of the heat dissipation member 50 and the surface area of the members (that is, the pulley 32 and the heat dissipation member 50) fixed to the input shaft 23 of the speed reducer 22 can be increased to enhance the heat dissipation effect of this member. It will be possible. Therefore, even in this case, the heat generated in the speed reducer 22 can be efficiently used in the atmosphere by using the pulley 32 and the heat dissipation member 50 that are fixed to the input shaft 23 and to which the heat generated in the speed reducer 22 is transferred. It becomes possible to dissipate, and as a result, it becomes possible to suppress the temperature rise of the joint portion 16 due to the heat generated in the speed reducer 22.

  Further, in this case, since the thickness direction of the heat dissipation member 50 and the thickness direction of the pulley 32 are the same, even if the heat dissipation member 50 is fixed to the pulley 32 or is integrally formed, When the pulley 32 rotates, the heat radiation member 50 is less likely to become a rotational resistance of the pulley 32. Therefore, it is possible to suppress the influence of the heat dissipation member 50 on the rotation of the pulley 32. In the example shown in FIG. 7A, the heat dissipation hole 32d is not formed in the pulley 32, but the heat dissipation hole 32d may be formed in the pulley 32.

  Further, when the heat radiation member 50 is fixed to the pulley 32 or is integrally formed, as shown in FIG. 7B, the heat radiation member 50 has a plurality of heat radiation holes 50 d for heat radiation. It may be formed. The heat dissipation hole 50d is formed, for example, in a circular shape penetrating the heat dissipation member 50. The plurality of heat radiation holes 50d are arranged at regular intervals in the circumferential direction of the heat radiation member 50. In this case, since the plurality of heat dissipation holes 50d are formed in the heat dissipation member 50, it is possible to increase the surface area of the heat dissipation member 50 and enhance the heat dissipation effect of the heat dissipation member 50. Therefore, in this case, it becomes possible to more efficiently dissipate the heat generated in the speed reducer 22 by using the pulley 32 and the heat dissipation member 50, and as a result, the joint portion caused by the heat generated in the speed reducer 22. It is possible to effectively suppress the temperature rise of 16.

  In the example shown in FIG. 7B, the pulley 32 has a plurality of circular heat dissipation holes 32d, but the plurality of heat dissipation holes 32d may not be formed. Further, in the example shown in FIG. 7A and the example shown in FIG. 7B, the blade 32e is not formed on the pulley 32, but the example shown in FIG. 7A and the example shown in FIG. 7B. In, a plurality of blades 32e may be formed on the pulley 32.

  Further, in the example shown in FIG. 7A and the example shown in FIG. 7B, the heat dissipation member 50 may be formed with a plurality of blades for blowing air. In this case, it is possible to more efficiently dissipate the heat generated in the speed reducer 22 by using the wind generated when the heat dissipation member 50 rotates together with the pulley 32. Further, in this case, when the heat dissipation member 50 rotates together with the pulley 32, an air flow is generated around the pulley 32 and the heat dissipation member 50 to efficiently cool the pulley 32 and the heat dissipation member 50. Therefore, it is possible to suppress deterioration of the heat radiation effect of the pulley 32 and the heat radiation member 50. Therefore, it is possible to effectively suppress an increase in the temperature of the joint portion 16 due to the heat generated in the speed reducer 22.

(Modification 3 of pulley)
8A is a plan view of a pulley 32 according to another embodiment of the present invention, and FIG. 8B is a cross-sectional view taken along the line FF of FIG. 8A. Note that, in FIG. 8, the same components as those in the above-described embodiment are denoted by the same reference numerals.

  As shown in FIG. 8, a plurality of irregularities 32g for heat dissipation may be formed on the surface of the pulley 32. In the example shown in FIG. 8, a plurality of irregularities 32g is formed on the upper surface of the pulley 32. In addition, in the example shown in FIG. 8, a plurality of fins 32h for heat dissipation are formed on the surface of the pulley 32, so that a plurality of irregularities 32g for heat dissipation are formed on the surface of the pulley 32. In the example shown in FIG. 8, a plurality of annular fins 32h having different diameters are arranged concentrically around the shaft center of the pulley 32.

  In this case, since the plurality of irregularities 32g for heat dissipation are formed on the surface of the pulley 32, it is possible to increase the surface area of the pulley 32 and enhance the heat dissipation effect of the pulley 32. Therefore, it becomes possible to efficiently dissipate the heat generated in the speed reducer 22 in the atmosphere by using the pulley 32 fixed to the input shaft 23 and transmitting the heat generated in the speed reducer 22. It is possible to suppress an increase in the temperature of the joint portion 16 due to the heat generated in the speed reducer 22.

  The fin 32h may be formed in a shape other than the annular shape. Further, a plurality of protrusions and recesses other than the fins 32h may be formed on the surface of the pulley 32 to form a plurality of irregularities 32g on the surface of the pulley 32. In addition, a plurality of irregularities 32g may be formed on the surface of the pulley 32 by intentionally roughening the additional work of the surface of the pulley 32 formed by casting, or the surface of the pulley 32 formed by casting A plurality of irregularities 32g may be formed on the surface of the pulley 32 by leaving it as it is without any additional machining. When forming the pulley 32 by casting, a large number of bubbles are intentionally formed in the mold. A plurality of irregularities 32g may be formed on the surface of the pulley 32 by mixing them.

(Other embodiments)
The above-described modes and modified examples are examples of preferred modes of the present invention, but the present invention is not limited thereto and various modifications can be made without departing from the scope of the invention.

  In the above-described embodiment, the heat dissipation hole 32d may be formed so as to be recessed from the upper surface or the lower surface of the pulley 32 in the thickness direction of the pulley 32, or may be formed so as to be recessed from the side surface of the pulley 32 in the radial direction of the pulley 32. It may be done. Further, the heat dissipation hole 32d may be formed so as to penetrate the pulley 32 in the radial direction of the pulley 32. Further, in the modification shown in FIG. 7, the heat dissipation member 50 may be formed in a shape other than the flat plate shape. For example, the heat dissipation member 50 may be formed in a rectangular parallelepiped shape.

  In the above-described embodiment and the modified examples shown in FIGS. 5 and 6, the blade 32e may not be formed on the pulley 32. In this case, for example, a plurality of circular heat dissipation holes 32d shown in FIG. 6 are formed in the pulley 32. Further, in the above-described embodiment and the modified examples shown in FIGS. 5 to 7, the pulley 32 may be provided with a plurality of irregularities 32g. Further, in the modified example shown in FIG. 8, a plurality of blades 32e may be formed on the pulley 32. Further, in the modification shown in FIG. 7A, a plurality of unevenness for heat dissipation may be formed on the surface of the heat dissipation member 50, and in the modification shown in FIG. 7B, in addition to the heat dissipation hole 50d. Alternatively, instead of the heat dissipation hole 50d, a plurality of unevenness for heat dissipation may be formed on the surface of the heat dissipation member 50.

  In the above-described embodiment, the pulley 32 may not be in contact with the input shaft 23 of the speed reducer 22. In this case, for example, a member made of a material having a high thermal conductivity is arranged between the input shaft 23 and the pulley 32. Further, in the above-described embodiment, the pulley 32 may be made of a material having a high thermal conductivity other than the aluminum alloy. Further, in the above-described embodiment, the sleeve 45 may not be arranged on the joint section 16. In this case, the inner peripheral surface of the pulley 32 is in contact with the outer peripheral surface of the outer ring 36b of the bearing 36 at a predetermined contact pressure.

  In the above-described embodiment, like the joint portion 16, a plurality of heat dissipation holes 32d and a plurality of blades 32e may be formed in the pulley fixed to the input shaft of the reduction gear arranged in the joint portion 17. Further, the heat radiation member 50 may be fixed to or integrally formed with the pulley fixed to the input shaft of the speed reducer arranged in the joint portion 17, and a plurality of irregularities may be formed on the surface of this pulley. 32 g may be formed.

  In the above-mentioned form, the hand 3 and the arm 4 may be arranged in the atmosphere. That is, the robot 1 may transfer the substrate 2 in the atmosphere. Further, in the above-described embodiment, the inside of the first arm portion 13 and the second arm portion 14 may be in a vacuum. Further, in the above-described embodiment, one motor rotates the second arm portion 14 with respect to the first arm portion 13 and rotates the hand 3 with respect to the second arm portion 14. A mechanism for transmitting power from the motor to the arm 4 may be configured.

  In the above-mentioned form, arm 4 may be constituted by three or more arm parts. In addition, in the above-described embodiment, the arm 4 is configured by one first arm portion 13 and two second arm portions 14 rotatably connected to the one first arm portion 13. May be. Furthermore, in the above-described embodiment, the robot 1 is rotatably connected to the two arms 4 whose proximal ends are rotatably connected to the main body 5 and the respective distal ends of the two arms 4. Two hands 3 may be provided. That is, the robot 1 may include four or more joints. Further, the number of joints included in the robot 1 may be one.

  In the above-described embodiment, the transport target transported by the robot 1 is the substrate 2 for the organic EL display, but the transport target transported by the robot 1 may be a glass substrate for the liquid crystal display, It may be a semiconductor wafer or the like. Further, in the above-described embodiment, the robot 1 is a horizontal articulated robot for carrying an object to be carried, but the robot 1 is a vertical articulated robot used for other purposes such as a welding robot. May be

1 robot (industrial robot)
2 substrates (glass substrate, object to be transported)
3 Hand 4 Arm 5 Main Body 13 First Arm Part 14 Second Arm Part 16 Joint Part 22 Reducer 23 Input Shaft 32 Pulley 32d Heat Dissipation Hole 32e Blade 32g Unevenness 50 Heat Dissipation Member 50d Heat Dissipation Hole

Claims (11)

In an industrial robot equipped with joints,
A reduction gear arranged at the joint portion, and a pulley connected to an input side of the reduction gear,
The industrial robot, wherein the pulley has a plurality of heat dissipation holes for heat dissipation.   The industrial robot according to claim 1, wherein the heat dissipation hole penetrates the pulley in a thickness direction of the pulley that is orthogonal to a radial direction of the pulley. The plurality of heat dissipation holes are arranged at predetermined intervals in the circumferential direction of the pulley,
The industrial robot according to claim 2, wherein blades for blowing air are formed between the heat dissipation holes in the circumferential direction of the pulley. In an industrial robot equipped with joints,
A reduction gear arranged at the joint portion, and a pulley connected to an input side of the reduction gear,
An industrial robot characterized in that a heat dissipation member for heat dissipation is fixed to or integrally formed with the pulley.   The industrial robot according to claim 4, wherein the heat dissipation member is provided with at least one of a plurality of heat dissipation holes for heat dissipation and a plurality of irregularities for heat dissipation.   The industrial robot according to claim 4, wherein the heat dissipation member is formed with a plurality of blades for blowing air. The heat dissipation member is formed in a flat plate shape,
The industrial robot according to claim 4, wherein a thickness direction of the pulley that is orthogonal to a radial direction of the pulley and a thickness direction of the heat dissipation member match. In an industrial robot equipped with joints,
A reduction gear arranged at the joint portion, and a pulley connected to an input side of the reduction gear,
The industrial robot, wherein a plurality of unevenness for heat dissipation is formed on the surface of the pulley.   9. The industrial robot according to claim 1, wherein the pulley is made of an aluminum alloy.   The industrial robot according to any one of claims 1 to 9, wherein the pulley is fixed to the input shaft of the speed reducer and is in contact with the input shaft. A hand on which an object to be conveyed is mounted; an arm to which the hand is rotatably connected to a tip side; and a body to which a base end side of the arm is rotatably connected,
The arm includes a first arm portion whose proximal end side is rotatably connected to the main body portion, a proximal end side which is rotatably connected to the distal end side of the first arm portion, and the hand which is connected to the distal end side. A second arm portion rotatably connected,
11. The speed reducer and the pulley are arranged in the joint portion that is a connecting portion between the first arm portion and the second arm portion, and the reduction gear and the pulley are arranged. Industrial robot.

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