JP6039887B2 - robot - Google Patents

Description

  The present invention relates to a robot in which a drive circuit board for driving a resolver is arranged on a base.

  Conventionally, as described in Patent Document 1, for example, a robot equipped with a resolver as a rotation angle sensor of a motor is known. In this type of robot, when the robot and controller are electrically disconnected and the drive power supply to the motor or resolver is cut off, the resolver detects the motor rotation angle even if the motor output shaft rotates with an external force. Can not do it. Therefore, in Patent Document 1, a backup battery is connected to the resolver drive circuit board so that the rotation angle of the motor can be detected even when the drive power supply to the motor or resolver is interrupted. With such a configuration, when the drive power from the controller is cut off, the drive power from the backup battery is supplied to the resolver, so it is possible to detect the rotation angle of the motor when the power is cut off become.

JP-A-8-305432

  By the way, in Patent Document 1, for the purpose of improving the stability of the operation of the resolver drive circuit board, the resolver is controlled so that vibration from the motor and heat from the motor are prevented from being transmitted to the drive circuit board. The drive circuit board is disposed at a position away from the motor. On the other hand, there has been a remarkable increase in the speed of robots in recent years, and along with this, vibrations from the motor, heat from the motor, and heat generation from the drive circuit board itself have become larger than before. For this reason, the measure of disposing the drive circuit board at a position away from the motor cannot secure the operation stability of the drive circuit board, and further measures are strongly demanded.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a robot on which a drive circuit board for driving a resolver is mounted, which can improve the operation stability of the drive circuit board. It is to provide.

Robot according to the present invention includes a base, a movable movable portion relative to the base, a motor for moving the movable portion relative to the base, a resolver that detects the rotation angle of the motor, the And a drive circuit board for driving the resolver, the drive circuit board being screwed with respect to the base via a plate-like elastic member having thermal conductivity. The drive circuit board and the elastic member have a through-hole into which the screw member is loosely inserted, and one side of the drive circuit board, one side of the elastic member, and the other elastic member The surface and the base are in surface contact , the base has a side surface extending in a direction intersecting the bottom surface of the base, and the drive circuit board is attached to the side surface via the elastic member. And on the side Deriving unit having a communication passage for evacuating the air inside of the base communicates with the interior of the base is connected.

According to this robot, even if the vibration based on the driving of the motor propagates to the drive circuit board via the robot base, the vibration in the thickness direction of the elastic member and the vibration in the plane direction are caused by the elasticity of the elastic member. Absorbed. In addition, the drive circuit board is usually installed in a state of being lifted from the base of the robot, but a heat conductive elastic member that is in surface contact with the drive circuit board and the base of the robot is interposed as in the above configuration. Since the heat of the circuit board is transmitted to the robot base through the elastic member, the thermal conductivity between the drive circuit board and the robot base is enhanced. That is, by interposing a thermally conductive elastic member between the drive circuit board and the robot base, vibration generated in the drive circuit board is suppressed and heat of the drive circuit board is dissipated from the robot base. It becomes easy. Therefore, since the mechanical load and the thermal load on the drive circuit board are reduced, the operation stability of the drive circuit board can be enhanced.
In addition, foreign substances falling from above are likely to adhere to the drive circuit board arranged along the horizontal direction. In this regard, according to the above configuration, for example, when the base is installed on a horizontal plane or a plane close to the horizontal plane, the drive circuit board is arranged along the direction intersecting the horizontal direction. It is possible to make it difficult for foreign matter to adhere to the drive circuit board disposed along the line.

  In this robot, it is preferable that the elastic member is an insulating member.

  If the elastic member has electrical conductivity, wiring must be formed on the drive circuit board so as to avoid the contact portion with the elastic member, and thus the degree of freedom in designing the drive circuit board. Will be greatly reduced. In this respect, according to the above configuration, since the elastic member is an insulating member, it is possible to form a wiring also in a contact portion with the elastic member, and the degree of freedom in designing the drive circuit board is improved. Can be made.

  In this robot, it is preferable that the elastic member is in surface contact over the entire area of one surface of the drive circuit board.

  The elastic member comes into surface contact with one surface of the drive circuit board, but the smaller the contact area with the one surface, the lower the thermal conductivity between the drive circuit board and the robot base. . In this regard, according to the above configuration, since the elastic member is in surface contact over the entire area of one surface of the drive circuit board, the thermal conductivity between the drive circuit board and the elastic member can be further increased.

In this robot, before Kimoto base of the outer surface, the fins for heat dissipation in a range corresponding to the contact portion between the elastic member.

  By providing fins for heat dissipation on the base like this robot, the heat dissipation of the base of the robot can be improved. And since the fin for heat dissipation is provided in the range corresponding to the contact portion with the elastic member, heat from the drive circuit board through the elastic member can be preferentially dissipated from the fin for heat dissipation. . Thereby, the heat of the drive circuit board can be efficiently radiated.

  The robot has a battery that serves as a power source for the drive circuit board when an electrical connection with a controller that controls the robot is interrupted, and the drive circuit board is based on a detection signal from the resolver. It is preferable to have a storage unit that stores the rotation angle of the motor.

  According to this robot, even if the electrical connection between the robot and the controller is interrupted, it is possible to drive the resolver using the battery as a power source and drive the absolute position of the motor during the interrupted period. It can be stored in the storage unit of the circuit board.

1 is a perspective view illustrating a schematic configuration of a robot system including a robot according to an embodiment of the present invention. It is sectional drawing along the AA in FIG. 1, Comprising: The figure which abbreviate | omitted and showed one part structural member. It is sectional drawing along the BB line in FIG. 1, Comprising: The figure which abbreviate | omitted and showed one part component. In the modification, it is the cross-sectional perspective view which shows an example of the installation aspect of a heat sink, Comprising: The figure which abbreviate | omitted and showed one part structural member. In the modification, it is sectional drawing which shows an example of the base provided with the derivation | leading-out part for introducing external air into internal space, Comprising: The figure which abbreviate | omitted one part structural member.

  Hereinafter, an embodiment of a robot according to the present invention will be described with reference to FIGS. As shown in FIG. 1, a main power supply 6 that supplies electric power to the controller 5 is connected to the controller 5 constituting the robot system 1. In addition, the robot 10 is connected to the controller 5 via connection lines 7a and 7b and connectors 8a and 8b. The controller 5 is driven by the power supplied from the main power supply 6, and the drive power is supplied to the robot 10 and various signals are transmitted and received between the robot 10 and the controller 5.

  The base 11 of the robot 10 has a box shape made of a metal such as aluminum having high thermal conductivity, and is arranged on an arrangement surface (not shown) parallel to the horizontal plane in a facility where the robot 10 is used. A rotation shaft 15 is connected to the top 14 of the base 11 so as to be rotatable with respect to the base 11 about a rotation center line C1 extending in the vertical direction. The rotating shaft 15 is connected to the output shaft of the first motor M1 provided in the base 11, and rotates with respect to the base 11 by rotating the first motor M1 forward and backward. A base end portion of the first arm 16 is connected and fixed to the rotary shaft 15, and the first motor M1 is rotated forward and backward so that the first arm 16 is based on the rotation center line C1. 11 in a horizontal plane.

  A support shaft 17 is connected and fixed to the distal end portion of the first arm 16. The support shaft 17 supports the second arm 18 so as to be rotatable with respect to the support shaft 17 about a rotation center line C2 extending in the vertical direction. A second motor M2 having an output shaft connected to the support shaft 17 via a gear or the like is fixed to the base end portion of the second arm 18. The second arm 18 is positioned in a horizontal plane with respect to the first arm 16 about the rotation center line C2 by a reaction force received from the support shaft 17 by the second motor M2 rotating forward and backward. Rotate with.

  A vertical rotation shaft 19 that penetrates the second arm 18 is provided at the tip of the second arm 18. The vertical rotation shaft 19 is supported so as to be rotatable with respect to the second arm 18 and movable in the vertical direction. Further, the vertical rotation shaft 19 is moved up and down along the vertical rotation center line C3 when the lifting motor M3 provided in the second arm 18 is rotated forward and backward. The vertical rotation shaft 19 is rotated forward and backward about its own rotation center line C4 along the vertical direction when the rotary motor M4 provided in the second arm 18 rotates forward and backward. A tool such as a hand for gripping the object to be conveyed or a hand for processing the object to be processed can be attached to the working unit 20 of the vertical rotating shaft 19. The electric wires connected to the second motor M2, the lift motor M3, and the rotary motor M4 are connected from the second arm 18 through the piping member 21 connected to the upper end portion of the second arm 18 and the top portion 14 of the base 11. Wired to the base 11.

  The first motor M1 incorporates a resolver R1 that detects an absolute position that is the rotation angle of the output shaft of the first motor M1. The resolver R1 is connected to a drive circuit board 25 disposed inside the base 11, and is driven by a drive power source output from the drive circuit board 25. Each of the second motor M2, the lift motor M3, and the rotary motor M4 also includes resolvers R2, R3, and R4 that detect an absolute position that is the rotation angle of the output shaft of the motor. Each of these resolvers R2 to R4 is connected to the drive circuit board 25 through a piping member 21 connected to the upper end of the second arm 18 and the top 14 of the base 11, and the drive output by the drive circuit board 25 is output. It is driven by a power supply. When the drive circuit board 25 is driven by the power supplied from the controller 5, each of the resolvers R <b> 1 to R <b> 4 outputs a detection signal indicating the absolute position of the output shaft of the motor to the drive circuit board 25. The drive circuit board 25 converts detection signals from the resolvers R <b> 1 to R <b> 4 that are analog signals into digital signals, and outputs the converted digital signals to the controller 5.

  The drive circuit board 25 is mounted with a storage unit that stores the absolute positions of the motors M1 to M4 detected by the resolvers R1 to R4 at a predetermined cycle. A battery 26 for supplying power to the drive circuit board 25 is disposed inside the base 11. The battery 26 supplies power for driving the drive circuit board 25 to the drive circuit board 25 when supply of power from the controller 5 is interrupted. When the power from the controller 5 is cut off, the battery 26 supplies drive power to the drive circuit board 25, and the drive circuit board 25 drives the resolvers R1 to R4. Thereby, during the period when the power supply from the controller 5 is shut off, the drive circuit board 25 continues to store the absolute positions of the motors M1 to M4 in the storage unit. When power is supplied again from the controller 5, the drive circuit board 25 outputs a signal indicating the absolute position of each of the motors M <b> 1 to M <b> 4 stored in the storage unit to the controller 5.

  Next, how the drive circuit board 25 is attached will be described with reference to FIGS. As shown in FIG. 2, a drive circuit board 25 is attached along the inner side surface 13 a to the inner side surface 13 a of the side portion 13 that extends in the vertical direction on the base 11. The drive circuit board 25 has a rectangular mounting surface 27 facing the inside of the base 11, and a connector 28 connected to the connection lines 7 a and 7 b and a plurality of electronic components (not shown) are mounted on the mounting surface 27. Has been. A through hole 29 that penetrates through the drive circuit board 25 is formed in each of the four corners of the mounting surface 27, and a screw that is screwed into the side portion 13 of the base 11 in each of the four through holes 29. The member is loosely inserted.

  Between the mounting surface 30 that is the side opposite to the mounting surface 27 in the drive circuit board 25 and the inner side surface 13a of the base 11, a rectangular flat plate-shaped elastic member that is in surface contact with the mounting surface 30 and the inner side surface 13a. 33 is sandwiched. The elastic member 33 is an insulating member having thermal conductivity formed in substantially the same size as the drive circuit board 25 so as to be in surface contact over the entire attachment surface 30 of the drive circuit board 25. In the elastic member 33, four through holes (not shown) into which the above-described screw members are loosely inserted are formed at portions facing the respective through holes 29.

  The elastic force of the elastic member 33 acts on the drive circuit board 25 from the side portion 13 toward the drive circuit board 25, and the pressing force by the head of the screw member is from the drive circuit board 25 to the side portion. Acts toward 13. At this time, the drive circuit board 25 can move within a range in which the screw member moves with respect to the through hole 29, and the drive circuit board 25 is positioned at a position where the elastic force and the pressing force are balanced. . In other words, the drive circuit board 25 can move relative to the base 11 as much as the screw member is loosely inserted into the through hole 29 and as much as the elastic member 33 is elastically deformed.

  The elastic member 33 having such a configuration preferably has an Asker C hardness of 30 or less and a thermal conductivity of 1 [W / m · K] as defined in SRIS0101 (Japan Rubber Association Standard). As an elastic member satisfying such conditions, “TMS-22” manufactured by Takeuchi Kogyo Co., Ltd. (Asker C hardness 25, thermal conductivity 2.2 [W / m · k], volume resistivity 1.0 × 10 ^) 12 [Ω · cm]) and “FEATHER-S3S” (Asker C hardness 5, thermal conductivity 2 [W / m · K]) manufactured by Polymertec Corporation.

  Next, the operation of the elastic member 33 interposed between the drive circuit board 25 and the side portion 13 will be described.

  In the robot 10 configured as described above, vibration based on the driving of the motors M <b> 1 to M <b> 4 is transmitted to the base 11 via the arms 16 and 18 of the robot 10. At this time, vibrations in the thickness direction of the elastic member 33 among vibrations transmitted from the base 11 to the drive circuit board 25 are absorbed by the elasticity of the elastic member 33. Of the vibrations transmitted from the base 11 to the drive circuit board 25, vibrations in the surface direction of the mounting surface 27 are also absorbed by the elastic member 33 because the screw member is loosely inserted into the through hole 29. . In addition, for example, when the connection between each connector 28 of the drive circuit board 25 and the connection of the electrical wiring is released by the worker, a force that pushes and bends the drive circuit board 25 by the worker during the maintenance of the robot 10 is applied. However, the force is distributed to the drive circuit board 25 and the elastic member 33.

  The drive circuit board 25 is usually installed in a state where the mounting surface 30 of the drive circuit board 25 is lifted from the inner side surface 13 a of the base 11, but heat conduction is performed between the drive circuit board 25 and the base 11. Since the elastic member 33 is interposed, the heat of the drive circuit board 25 is transmitted to the base 11 of the robot 10 through the elastic member 33, so that the thermal conductivity between the drive circuit board 25 and the base 11 is improved. Will be. Moreover, since the elastic member 33 is in surface contact over the entire attachment surface 30, the drive circuit board 25 and the elastic member 33 are compared with the case where the elastic member 33 is in surface contact with part of the attachment surface 30. The thermal conductivity between the two is increased.

  Furthermore, since the elastic member 33 that causes the above-described action is an insulating member, it is possible to form wiring also on the mounting surface 30 of the drive circuit board 25 that is a contact portion with the elastic member 33.

  As described above, according to the robot 10 according to the present embodiment, the effects listed below can be obtained.

  (1) According to the above-described embodiment, by providing the heat conductive elastic member 33 that contacts the mounting surface 30 of the drive circuit board 25 and the inner side surface 13a of the side portion 13, the mechanical property of the drive circuit board 25 is increased. Load and thermal load can be reduced. As a result, the operation stability of the drive circuit board 25 can be improved.

  (2) Since the elastic member 33 of the above embodiment is an insulating member, the degree of freedom in designing the drive circuit board 25 is improved as compared with the case where the elastic member 33 has conductivity. Can do.

  (3) In the above embodiment, the thermal conductivity between the drive circuit board 25 and the elastic member 33 is enhanced by bringing the elastic member 33 into surface contact over the entire attachment surface 30 of the drive circuit board 25. The heat of the drive circuit board 25 can be easily absorbed by the elastic member 33. As a result, the thermal load on the drive circuit board 25 can be further reduced.

  (4) In the above embodiment, since the drive circuit board 25 is attached to the inner side surface 13a of the side portion 13 extending in the vertical direction, the drive circuit board 25 is arranged so that its mounting surface 27 is along the vertical direction. Has been. According to such a configuration, it is possible to suppress the foreign matter generated in the base 11 from dropping and adhering to the drive circuit board 25 as compared with the drive circuit board in which the mounting surface 27 is arranged along the horizontal plane. it can.

  (5) The robot 10 of the above embodiment is equipped with a battery 26 that supplies power to the resolvers R1 to R4 when the power from the controller 5 is shut off. The drive circuit board formed on the drive circuit board 25 is provided with a storage unit that stores the absolute positions of the motors M1 to M4 based on detection signals from the resolvers R1 to R4 driven by the battery 26. Yes. According to such a configuration, it is possible to drive the resolvers R1 to R4 and store the absolute positions of the motors M1 to M4 even during a period in which the electrical connection between the controller 5 and the robot 10 is interrupted. Can be remembered.

  In addition, the said embodiment can also be changed and implemented as follows.

  In the above embodiment, the base 11 may be provided with a heat sink. This will be described with reference to FIG.

  As shown in FIG. 4, the outer surface 13 b of the side portion 13 of the base 11 is configured with a plurality of radiating fins 36 so as to include a range corresponding to a contact portion between the elastic member 33 and the inner surface 13 a. A heat sink 35 is provided. According to such a configuration, heat dissipation of the base 11 itself can be improved, and heat from the drive circuit board 25 through the elastic member 33 can be preferentially radiated from the heat sink 35. That is, the heat of the drive circuit board 25 can be efficiently radiated as compared with the configuration in which the heat sink 35 is not provided.

  -Although robot 10 of the above-mentioned embodiment has base 11 formed so that internal space was sealed, it may have composition which introduces outside air into internal space. This will be described with reference to FIG.

  As shown in FIG. 5, a lead-out portion 41 having a communication path 40 communicating with the internal space of the base 11 is provided on the side portion 13 of the base 11 in a position close to the drive circuit board 25, and the lead-out portion 41 is connected to a vacuum pump (not shown). And you may make it introduce external air into internal space from the clearance gap between the bases 11 by making the internal space of the base 11 into a negative pressure rather than external air pressure with a vacuum pump. According to such a configuration, an increase in temperature in the internal space is suppressed by the introduced outside air. Therefore, in addition to the effects described in (1) to (5) above, heat dissipation from the mounting surface 27 of the drive circuit board 25 can be promoted. In addition, by providing the lead-out portion 41 at a position close to the drive circuit board 25, convection is promoted around the drive circuit board 25, so that heat can be efficiently radiated from the mounting surface 27 of the drive circuit board 25. . In addition, regarding this configuration, as shown in FIG. 5, an introduction portion 42 that introduces outside air into the base 11 may be formed.

  The robot 10 according to the embodiment includes the battery 26 that serves as the power source of the resolvers R1 to R4 during the period in which the power supply from the controller 5 is interrupted, and from the resolvers R1 to R4 during the period. The drive circuit board 25 is provided with a storage unit that stores the detection signal of the above. For example, when the change in absolute position of each of the motors M1 to M4 can be ignored during the period when the power supply from the controller 5 is cut off, the battery 26 and the storage unit are omitted. May be. According to such a configuration, in addition to the effects described in (1) to (4) above, the configurations of the base 11 and the drive circuit board 25 can be simplified.

  In the above embodiment, the drive circuit board 25 is attached to the inner side surface 13 a of the side portion 13 of the base 11, that is, the inner surface of the base 11. If this is changed and the drive circuit board 25 is attached via the elastic member 33, the drive circuit board 25 may be attached to the outer surface of the base 11.

  In the above embodiment, the drive circuit board 25 is attached so that the mounting surface 27 is disposed along the inner side surface 13 a of the side portion 13 extending in the vertical direction orthogonal to the bottom surface 12 a of the base 11. By changing this, the drive circuit board 25 can be attached to the base 11 in a direction in which the mounting surface 27 is parallel or intersects with the surface direction of the bottom surface 12a, for example. Even if it is such a structure, the effect described in said (1)-(3) can be acquired.

  In the above embodiment, the elastic member 33 is configured to contact the entire mounting surface 30 of the drive circuit board 25. By changing this, the contact portion between the mounting surface 30 of the drive circuit board 25 and the elastic member 33 may be a part of the mounting surface 30. For example, the contact portion between the elastic member 33 and the attachment surface 30 may be biased to one side on the attachment surface 30, or may be a plurality of locations on the attachment surface 30. Even if it is such a structure, the effect described in said (1) (2) can be acquired. In such a configuration, it is preferable to provide a contact portion so as to correspond to a portion of the drive circuit board 25 where the temperature rise is high.

  -The elastic member 33 of the said embodiment is formed with the insulating member. By changing this, the elastic member 33 may have conductivity, but it is necessary to design the circuit board so that the wiring is not short-circuited by the elastic member. According to such a configuration, in addition to the effect described in (1) above, the degree of freedom in selecting the material of the elastic member 33 is improved, and an elastic member suitable for the mechanical conditions required for the elastic member 33 is selected. can do.

  In the above embodiment, the present invention is embodied in the robot 10 of a horizontal articulated robot. The present invention is not limited to this, and the present invention can be applied to a robot on which a circuit board on which a resolver drive circuit is formed is mounted while detecting the absolute position of a motor that moves a movable part by a resolver.

  The drive circuit board 25 of the above embodiment is movably attached to the base 11 by a through-hole formed in the drive circuit board 25 and a screw member loosely inserted into the through-hole formed in the elastic member 33. It has been. For example, the drive circuit board 25 is attached to the base 11 so that the drive circuit board 25 is movable. The mode attached to the base 11 by making it adhere | attach on the base 11 may be sufficient. Further, for example, an embodiment in which the elastic member 33 is interposed instead of the screw member and the spring 11 is attached to the base 11 may be used.

  In the above embodiment, the robot 10 is installed on a horizontal plane, but the installation surface of the robot 10 is not limited to the horizontal plane. The drive circuit board 25 is preferably arranged according to the installation mode of the robot 10 so that the foreign matter generated in the base 11 does not easily adhere to the drive circuit board 25 even if it falls.

  C1, C2, C3, C4 ... rotation center line, M1 ... first motor, M2 ... second motor, M3 ... lift motor, M4 ... rotation motor, R1, R2, R3, R4 ... resolver, 1 ... robot device, 5 ... Controller, 6 ... Main power supply, 7a, 7b ... Connection line, 8a, 8b ... Connector, 10 ... Robot, 11 ... Base, 12 ... Bottom, 12a ... Bottom, 13 ... Side, 13a ... Inner side, 13b ... External surface, 14 ... top, 15 ... rotating shaft, 16 ... first arm, 17 ... support shaft, 18 ... second arm, 19 ... vertical rotating shaft, 20 ... working portion, 21 ... piping member, 25 ... drive circuit board , 26 ... battery, 27 ... mounting surface, 28 ... connector, 29 ... through hole, 30 ... mounting surface, 33 ... elastic member, 35 ... heat sink, 36 ... heat radiation fin, 40 ... communication path, 41 ... lead-out portion, 42 ... Introduction part.

Claims (5)

The base,
A movable part movable relative to the base;
A motor for moving the movable part relative to the base;
A resolver for detecting a rotation angle of the motor;
A robot that is located inside the base and includes a drive circuit board that drives the resolver,
The drive circuit board is attached to the base by a screw member via a flat elastic member having thermal conductivity,
The drive circuit board and the elastic member have a through hole into which the screw member is loosely inserted,
One surface of the drive circuit board and one surface of the elastic member, and the other surface of the elastic member and the base are in surface contact ,
The base has a side surface extending in a direction intersecting the bottom surface of the base,
The drive circuit board is attached to the side surface via the elastic member;
The robot is characterized in that a lead-out portion having a communication path for communicating with the inside of the base and exhausting the air inside the base is connected to the side surface. The robot according to claim 1, wherein the elastic member is an insulating member. The elastic member is
The robot according to claim 1, wherein the robot is in surface contact over the entire area of one surface of the drive circuit board. Robot according to previously Kimoto base of the outer surface, any one of claim 1 to 3, fins for heat radiation in a range corresponding to the contact portion between the elastic member. A battery serving as a power source for the drive circuit board when electrical connection with a controller for controlling the robot is interrupted;
The drive circuit board is
Robot according to any one of claim 1 to 4 having a storage unit for storing a rotation angle of the motor based on the detection signal from the resolver.

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