JP6541897B2 - Drive unit and robot - Google Patents

Description

  The present invention relates to a drive unit and a robot including an electric motor.

  As the drive unit driven by the motor continues to move, the load on the motor accumulates and the temperature of the motor rises. An industrial robot can be illustrated as an apparatus provided with such a drive unit. If the motor gets hot, it will fail or stop due to the protective function. Therefore, in such a robot, heat dissipation of the motor is required.

  In the conventional configuration, the bracket fixed to the end of the rotation shaft of the motor is provided with a fixing portion to the housing, and the heat generated by the motor is dissipated from the fixing portion to the housing. However, in order to extend the drive time of the motor, it is necessary to more efficiently dissipate the heat of the motor. Therefore, it is conceivable to dissipate heat from the robot case through not only the bracket of the motor but also a heat dissipation sheet provided in contact with the side surface of the motor case.

  Patent Document 1 discloses a cooling structure including a heat conductor in an internal space of a motor housing, which forms a heat conduction path for transferring heat from the motor to the motor housing. The heat conductor of Patent Document 1 has a first contact surface in contact with the heat generating surface of the motor and a second contact surface in contact with the inner surface of the motor housing. In Patent Document 1, a heat conduction path is formed by sliding at least one of the contact surfaces along the opposing heating surface or the inner surface to adjust and fix the position of the heat conductor. Further, Patent Document 2 discloses a technology in which an air gap is provided between a motor case and a portion corresponding to a robot case, and the air gap is filled with a metal paste for heat radiation. Further, Patent Document 3 discloses an elastic heat conductor.

JP, 2014-046398, A JP, 2015-085447, A JP, 2016-005331, A

  However, in the technique of Patent Document 1 described above, the heat conductor is slid and fixed by screws. Therefore, there is a problem that not only it takes time for assembling, but if the heat conductors are provided at a plurality of places to improve the heat dissipation, the robot becomes large in size.

  Moreover, in the technique of the above-mentioned patent document 2, since metal paste is used, the solidification process of metal paste is required after filling. A heat treatment can be illustrated as a solidification process.

  Moreover, in the technique of the above-mentioned patent document 3, the heat transfer route at the time of heat radiation is excessively long, and the elastic heat conductor is not installed so that the sum of elastic forces cancel each other, and a position is used using a screw. It is necessary to hold

  The present invention has been made in view of the above, and it is an object of the present invention to obtain a robot with good assemblability capable of performing heat dissipation of a motor more efficiently while suppressing an increase in size.

  In order to solve the problems described above and to achieve the object, the present invention provides a motor disposed in a first housing, an inner side surface of the first housing, and a second one of the housings of the motor. And a heat dissipating support portion which is disposed in a bent or bent state and in contact with the outer surface of the housing, and which is at least partially elastic. A force by an elastic force of the heat dissipating support portion is applied to the inner side surface of the first case and the outer side surface of the second case.

  According to the present invention, it is possible to obtain a robot with good assemblability capable of performing heat dissipation of the motor more efficiently while suppressing an increase in size.

1 is a schematic perspective view showing an appearance configuration of a robot provided with a drive unit according to Embodiment 1; 1 is a sectional perspective view showing a section cut by a plane including the robot case fixing portion and the robot case movable portion in II of FIG. 1 A cross-sectional plan view showing a cross section cut by a plane including the robot case fixing portion and the robot case movable portion in II of FIG. 1 The perspective view seen from the direction of arrow IV of FIG. 3 Bottom view seen from the direction of arrow IV in FIG. 3 Analysis model around motor of robot according to the first embodiment Bottom view of robot casing of Embodiment 2 Bottom view of robot casing of first example of Embodiment 3 Bottom view of robot casing of second example of the third embodiment Bottom view of robot casing of first example of fourth embodiment Bottom view of robot casing of second example of the fourth embodiment Bottom view of robot casing of third example of the fourth embodiment Bottom view of robot casing of Embodiment 5 Cross-sectional perspective view of robot casing of Embodiment 6 Hardware configuration diagram of control unit in the first embodiment

  Hereinafter, a drive unit and a robot according to an embodiment of the present invention will be described in detail based on the drawings. The present invention is not limited by the embodiment.

Embodiment 1
FIG. 1 is a schematic perspective view showing the external configuration of a robot provided with a drive unit according to Embodiment 1 of the present invention. The robot case 1 shown in FIG. 1 includes a robot case fixing portion 1a and a robot case movable portion 1b, which are a first case. The lower side of the robot case fixing portion 1a is fixed at a position to be fixed. As described later, a drive device 30 including the motor 10 is provided inside the robot case fixing portion 1a. The robot housing movable portion 1b is disposed on the upper side of the robot housing fixed portion 1a, and is rotationally driven by a drive device 30 described later. Further, as described later, a heat dissipation structure that enables heat dissipation of the motor 10 is provided inside the robot case 1.

  2 is a cross-sectional perspective view showing a cross section cut by a plane including the robot housing fixing portion 1a and the robot housing movable portion 1b in II of FIG. 1, and FIG. 3 is a robot housing fixing in II of FIG. It is a cross-sectional top view which shows the cross section cut | disconnected by the plane containing the part 1a and the robot casing movable part 1b.

  As shown in FIGS. 1 to 3, the robot case fixing portion 1 a and the robot case movable portion 1 b have a hollow cylindrical shape. When the robot case fixing portion 1a is formed into a hollow cylindrical shape, the driving device 30 can be disposed in this hollow structure portion. If the robot casing movable part 1b has a hollow cylindrical shape, it is possible to attach an attachment such as an electric hand to the end of the robot casing movable part 1b and to draw a wire inside the robot casing movable part 1b. . However, the present invention is not limited to this, and the robot case fixing portion 1a is not limited to the hollow structure as long as the drive device 30 can be disposed inside, and is not limited to this. The robot case fixing portion 1a is not limited to a cylindrical shape as long as the drive device 30 can be disposed inside, and the robot case movable portion 1b is also similar to the robot case fixing portion 1a. It is not limited to the hollow structure and the cylindrical shape.

  The drive device 30 shown in FIG. 2 includes the reduction gear 3 and the motor 10. A motor 10 shown in FIG. 2 includes a rotor 11, a core 12, a motor housing 13 as a second housing, brackets 14a and 14b, bearings 15a and 15b, and an encoder 16, and a robot housing It is being fixed to the body fixing part 1a.

  The rotor 11 is rotated by the electromagnetic force change of the core 12 in which the coil is wound. The core 12 has a hollow cylindrical shape, and the outer periphery thereof is fixed to the inside of the motor housing 13. One end of the motor housing 13 is fixed to the robot housing fixing portion 1a by a bracket 14a that holds the bearing 15a. The other end of the motor housing 13 is fixed by a bracket 14b that holds the bearing 15b. Here, a screw may be used for fixing. The bearings 15 a and 15 b rotatably support the rotor 11, and the rotor 11 is rotatably fixed to the core 12. One end of the rotor 11 is connected to the inside of an encoder 16 used to control the motor 10.

  The encoder 16 and the motor 10 are connected to a control unit. The control unit is installed at the base or outside of the robot. FIG. 2 is a hardware configuration diagram of a control unit in the first embodiment. The control unit 21 includes a processor 22 and a memory 23, as shown in FIG. The processor 22 is a central processing unit (CPU), and is also called a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a digital signal processor (DSP). The memory 23 is a nonvolatile or volatile semiconductor memory, such as a random access memory (RAM), a read only memory (ROM), a flash memory, an erasable programmable read only memory (EPROM), and an electrically erasable programmable read only memory (EEPROM). Magnetic disks, flexible disks, optical disks, compact disks, mini disks, DVDs (Digital Versatile Disks), and the like. The processor 22 uses the information received from the encoder 16 to calculate the rotation angle of the motor 10. The processor 22 also reads out the computer program stored in the memory 23 and executes the read computer program to transmit a drive command based on the rotation angle of the motor 10 to the motor 10. The encoder 16 may be replaced by any sensor that detects the rotation angle of the motor 10.

  The other end of the rotor 11 is connected to the reduction gear 3. The bracket 14a is fixed to the robot case fixing portion 1a. The exterior of the encoder 16 is fixed to the bracket 14 b. Further, the reduction gear 3 is connected to the robot housing movable portion 1b, and decelerates the rotation of the motor 10 to rotate the robot housing movable portion 1b. The bracket 14a and the bearing 15a are disposed on the robot housing movable portion 1b side, that is, the upper side in FIGS. 2 and 3, and the bracket 14b and the bearing 15b are on the opposite side of the robot housing movable portion 1b, that is, FIGS. It is placed on the lower side of the

  Further, as shown in FIGS. 2 and 3, the heat radiation supporting portions 2_1 and 2_2 formed of resin or metal are disposed between the inner side surface of the robot case fixing portion 1a and the outer side surface of the motor case 13 as shown in FIGS. It is arranged in contact. In addition, all the heat radiation supporting portions 2_1 and 2_2 provided between the inner side surface of the robot case fixing portion 1a and the outer side surface of the motor case 13 may be collectively referred to as the heat radiation supporting portion 2.

  4 is a perspective view seen from the direction of arrow IV of FIG. 3, and FIG. 5 is a bottom view seen from the direction of arrow IV of FIG. The heat radiation support portions 2_1 and 2_2 shown in FIG. 4 support the motor housing 13 on the side surface. The heat dissipating support portions 2_1 and 2_2 are elastic bodies having a V-shaped structure made of the same material as the robot case fixing portion 1a. As shown in FIGS. 4 and 5, the heat radiation supporting portions 2_1 and 2_2 are provided at positions facing each other across the motor housing 13 as viewed from the bottom of the robot housing fixing portion 1a. Further, the heat radiation support portions 2_1 and 2_2 are in contact with the motor housing 13, but are not fixed to the motor housing 13.

  Grease may be applied to the contact surface between the heat radiation support portions 2_1 and 2_2 and the motor housing 13. When the grease is applied to the contact surface, the thermal conductivity is improved, and heat can be efficiently dissipated from the motor 10. Instead of grease, a sheet may be adhered to the contact surface, or a heat dissipating paint may be applied to improve the thermal conductivity. As an example of the heat dissipating paint, “Cool Tech” (registered trademark) of Okitsumo Co., Ltd. using “heat radiation (heat radiation)”, “Pelcool” of liquid or powder heat dissipating paint of Pernox Co., These heat-dissipation paints may be combined. In the first embodiment, the heat radiation support portions 2_1 and 2_2 and the motor housing 13 are in contact with each other, but a slight gap may be provided, and the gap may be filled with grease or a curable resin. In this case, when the motor housing 13 is flexed by an external force, the elasticity of the heat dissipation support 2 applies a force to the motor 10, so efficient heat dissipation can be achieved from the plurality of outer surfaces of the motor housing 13 . Further, since the heat dissipating support portions 2_1 and 2_2 are fixed by elasticity only by inserting them between the motor 10 and the motor housing 13, the assemblability can be improved.

  With the configuration described above, efficient heat dissipation from the motor 10 is possible. For example, when a load is applied to the motor 10 and the rotor 11 repeats rotation and reverse rotation, the coil wound around the core 12 generates heat. As shown in FIGS. 2 and 3, since the robot housing movable portion 1 b is connected to the rotor 11, a load is applied to the motor 10. As the inertia of the robot casing movable portion 1b is larger, the load on the motor 10 is increased, and the amount of heat generation from the coil is also increased. Therefore, when a further component such as an electric hand is connected to the robot housing movable portion 1b and the inertia of the robot housing movable portion 1b is increased, the load on the motor 10 is increased and the amount of heat generation from the coil is further increased. As described above, when the load on the motor 10 increases, the motor 10 may fail due to high temperature, or may stop operating due to the protective function of the motor 10. Even when the load on the motor 10 does not increase, the failure due to the high temperature similarly stops the operation due to the protective function of the motor 10 even when the continuous operation of the motor 10 is continued. Therefore, in order to prevent breakdown and stop of the motor 10, for example, a heat conductor such as a gel-like sheet having high thermal conductivity is disposed between the motor 10 and the motor housing 13 to enable efficient heat dissipation. It is possible to do. As described above, it is general to suppress the increase in temperature of the motor 10 by radiating heat from the outer side surface of the motor casing 13.

  By the way, the heat transfer from the motor 10 is from the coil wound around the core 12 which is the main heat generation source to the core 12, from the core 12 to the motor housing 13, from the motor housing 13 to the bracket 14a, from the bracket 14a to the robot In general, the robot case fixing unit 1 a radiates heat to the outside air. In the present embodiment, the coil wound on the core 12 to the core 12, the core 12 to the motor housing 13, the motor housing 13 to the heat dissipation support portions 2_1 and 2_2, and the heat dissipation support portions 2_1 and 2_2 to the robot casing The heat is transferred to the fixing portion 1a, and the robot casing fixing portion 1a dissipates heat. The difference in the heat transfer route is whether the heat is transferred from the core 12 to the robot casing 1 via the bracket 14a or via the heat radiation support portions 2_1 and 2_2. Here, since the heat transfer efficiency is higher if the distance from the heat source to the heat radiation location is shorter and the cross-sectional area of the heat transfer route is larger, the heat radiation supporting portions 2_1 and 2_2 may be used rather than the bracket 14a. Heat transfer efficiency is high.

  When the heat dissipating support portions 2_1 and 2_2 are configured as described above, efficient heat dissipation is possible from the plurality of outer side surfaces of the motor housing 13, and the assemblability is high.

  Further, in the present embodiment, the material of the heat radiation support portions 2_1 and 2_2 is the same material as the robot case fixing portion 1a.

  When the motor housing 13 is incorporated into the robot housing fixing portion 1a, the motor 10 is inserted from the bottom direction of the robot housing fixing portion 1a, and the brackets 14a of the motor 10 are bent while bending the heat radiation supporting portions 2_1 and 2_2. Push into the fixing portion with the robot case fixing portion 1a. Therefore, it is preferable that the bottom sides of the heat radiation support portions 2_1 and 2_2 be chamfered.

  Further, due to the deflection of the heat radiation support portions 2_1 and 2_2, the heat radiation support portions 2_1 and 2_2 and the outer side surface of the motor casing 13 are in close contact with each other. Therefore, the heat transfer efficiency can be made higher than simply contacting the two.

  The motor housing 13 may be made of aluminum generally used in industrial robots. However, the present invention is not limited to this, and the motor housing 13 may be formed of a metal other than aluminum, or may be formed of a resin having a high thermal conductivity, or an engineering plastic It may be formed of

  When the robot casing fixing portion 1a and the heat dissipation support portions 2_1 and 2_2 are integrally formed parts, since the shapes of the heat dissipation supporting portions 2_1 and 2_2 are complicated, the robot casing fixing portion 1a and the heat dissipation support are provided. It is preferable to form the parts 2_1 and 2_2 by the additive manufacturing method. Molding by the additive manufacturing method can be realized using a 3D printer. It is also possible to manufacture the heat dissipation support portions 2_1 and 2_2 separately from the robot case fixing portion 1a, and to join the heat dissipation support portion 2 and the robot case fixing portion 1a by welding or bonding. In addition, as shown in FIG. 5, a space is provided in the heat dissipating support portion 2 in order to give the property of flexing when viewed from the bottom. All or part of this space may be filled with a material such as a resin. In that case, the improvement of the heat radiation performance of the heat radiation support portion 2 and the improvement of the rigidity of the robot case fixing portion 1a can be expected.

  In the present embodiment, the robot casing fixing portion 1a and the heat dissipation support portions 2_1 and 2_2 are formed of the same material, but the present invention is not limited to this. The robot case fixing portion 1a and the heat dissipation support portions 2_1 and 2_2 may be formed of different materials to be different parts.

  Further, if the heat is dissipated from only one side, the heat may be uneven in the core 12 and the rotation accuracy may be lowered. According to the present embodiment, since heat is dissipated from the two opposing surfaces of the motor housing 13, such uneven heat can be suppressed. However, the present invention is not limited to this, and three or more heat dissipating supports may be provided. The heat radiation supporting portions 2_1 and 2_2 disposed between the motor housing 13 and the robot housing fixing portion 1a may be disposed at positions that surround the motor housing 13 in a balanced manner without being biased in the circumferential direction of the motor 10. preferable.

  Furthermore, the heat radiation supporting portions 2_1 and 2_2 intervene between the outer side surface of the motor housing 13 and the inner side surface of the robot housing fixing portion 1a, so that the mechanical strength of the motor 10 is also improved.

  Here, structural analysis was performed to show how much the mechanical strength of the motor 10 is improved. FIG. 6 is an analysis model that simulates the area around the motor. The robot case fixing portion 1a has a cylindrical shape with an outer diameter of 100 mm, an inner diameter of 92 mm, and a length of 120 mm, and is made of aluminum. The electric motor 10 is a rectangular parallelepiped having a cross section of 50 mm × 50 mm and a length of 120 mm, and the material is iron. The heat dissipation support 2 fills the area other than the motor 10 inside the robot case 1. The material of the heat dissipation support 2 is aluminum. The Young's modulus of iron was 200 [GPa], and the Young's modulus of aluminum was 71 [GPa].

  The boundary conditions of structural analysis are described. The fixed surface 4 is fixed in space by a rigid surface. The robot housing fixing portion 1 a is fixed to the fixing surface 4 on the surface where the robot housing fixing portion 1 a and the fixing surface 4 are in contact with each other. On the other hand, the motor 10 and the heat dissipating support 2 are also in contact with the fixed surface 4 but not fixed.

  The contact surface between the robot case fixing portion 1 a and the heat dissipating support portion 2 and the contact surface between the heat dissipating support portion 2 and the motor 10 are fixed. Also, a load was applied to the position and direction of the arrow in FIG. The analysis point was taken as the point pointed by the tip of the arrow, and the amount of downward deformation was obtained.

  The results of structural analysis are described. First, when there is no motor 10 and the heat radiation supporting portion 2 and only the robot case fixing portion 1a is to be analyzed, assuming that the load is 400 [N], the deformation amount of the analysis point is 7.1 [μm]. Here, in order to make it easy to understand, the deformation amount of 7.1 [μm] is set to 1.00 and comparison is made with the condition change.

  Next, 400 [N] which is a load of the same size was applied to the analysis point, and analysis in the case where the motor 10 and the heat radiation support portion 2 were present was performed. When the heat dissipating support portion 2 was aluminum, the ratio of deformation was 0.15. That is, if the analysis model shown in FIG. 6 is regarded as one beam, the heat radiation supporting unit 2 includes the motor 10 and the robot case fixing unit inside the robot case fixing unit 1a than in the case of only the robot case fixing unit 1a. The amount of deformation in the bending direction is smaller when in contact with 1a.

  Here, in the first embodiment, unlike the analysis model shown in FIG. 6, the inside of the robot case fixing portion 1a is not filled with aluminum unlike the analysis model shown in FIG. Therefore, this is simulated by lowering the Young's modulus of the heat dissipating support portion 2. The amount of deformation when the Young's modulus of the heat dissipating support portion 2 was 1/10 of that of aluminum was 0.40, and the amount of deformation when the Young's modulus of the heat dissipating support portion 2 was 1/100 of that of aluminum was 0.80. That is, as the rigidity of the heat dissipating support portion 2 decreases, the amount of deformation in the bending direction increases. However, even if the heat dissipating support portion 2 is less rigid than aluminum, it can be said that the effect of supporting the strength is achieved to some extent. At this time, the amount of deformation of the motor 10 is also substantially the same as the amount of deformation of the analysis point. Therefore, the amount of deformation of the motor 10 is reduced by providing the heat dissipating support portion 2. That is, the mechanical strength of the motor 10 is improved by providing the heat dissipation support 2.

  In addition, since the heat radiation support portions 2_1 and 2_2 have a shape having a space which is a space formed by a part of the heat radiation support portions 2_1 and 2_2 and the other portions, it is possible to suppress the mass increase of the robot case 1 It is possible.

  In addition, a part of the load applied to the robot case fixing portion 1a at the time of operation of the robot is also applied to the motor 10 through the heat radiation support portions 2_1 and 2_2. Since the motor 10 incorporates a coil formed of iron, concentration of the load on the robot case fixing portion 1 a can be suppressed by the motor 10 bearing a part of the load. However, if the load that the motor 10 bears increases, distortion may occur in the motor 10 and normal rotation may become difficult. Therefore, it is necessary to design the shapes of the heat radiation support portions 2_1 and 2_2 in the state in which the motor 10 is incorporated in consideration of the balance between the maximum load on the motor housing 13 and the heat radiation performance. Here, in order to suppress the load on the motor 10, the sum of the elastic forces of the heat radiation supporting portions 2_1 and 2_2 to the motor casing 13 cancel each other out, and the fixing portion of the bracket 14a determines the position from which the motor 10 is determined. It should be designed not to move. That is, it is preferable that the resultant force of the force applied to the motor housing 13 by the elastic force of the heat radiation supporting portions 2_1 and 2_2 be zero. In particular, when the robot case 1 stands still or when the motor 10 rotates, in a posture that the robot case 1 takes frequently, the sum of the elastic forces of the heat radiation supporting portions 2_1 and 2_2 to the motor case 13 cancel each other It is preferable to do. However, when the robot operates, the force applied to the motor housing 13 changes, so that the sum of the elastic forces of the heat radiation supporting portions 2_1 and 2_2 to the motor housing 13 is biased. Tolerance should be considered.

  In patent document 1 which is a prior art, in order to dissipate heat from the side of a motor case, a thermal radiation part slides and contacts the side of a motor case. However, it is necessary to fix the slid-out heat dissipation structure with a fixing tool such as a screw, and if the same structure is provided at a plurality of places, the structure becomes complicated and the apparatus itself becomes large.

  Moreover, in patent document 2 which is a prior art, a space | gap is provided between the part corresponded to a motor housing | casing and a robot housing | casing, and efficient heat dissipation is possible by filling this space | gap with a metal paste. However, in the configuration in which the metal paste is solidified after being filled, a solidifying step is required. A heat treatment can be illustrated as a solidification process.

  Moreover, in patent document 3 which is a prior art, in order to thermally radiate from an electric motor similarly to the structure demonstrated in this Embodiment, the elastic heat conductor is used. However, as described in the present embodiment, heat is not dissipated from the motor housing 13 to the robot housing 1 which is close in distance. In the configuration disclosed in Patent Document 3, the heat transfer route is excessively long, and the elastic body is not installed so that the sum of elastic forces cancel each other, and the position is held using a screw.

  According to the present embodiment, it is possible to obtain a robot with good assemblability capable of performing heat dissipation of the motor more efficiently while suppressing an increase in size.

  In the present embodiment, although the motor 10 is described by exemplifying a servomotor requiring the encoder 16, the present invention is not limited to this, and even if the motor 10 is a motor other than a servomotor Good. A stepping motor can be illustrated as a motor other than such a servomotor.

  Moreover, in the present embodiment, the motor 10 is fixed by the brackets 14a and 14b, but the present invention is not limited to this, and the motor 10 may be fixed in the circumferential direction. In this case, since it is difficult to integrally mold the robot case and the heat dissipating support portion, the robot case and the heat dissipating support portion may be separately formed and then combined.

  Further, in the present embodiment, although the longitudinal direction of the robot casing and the longitudinal direction of the motor coincide with each other, the present invention is not limited to this. For example, in FIG. 3, the direction of the motor 10 may be horizontal, the reduction gear 3 may be rotated via the belt, and the two side surfaces of the motor housing 13 may be in contact with the heat radiation support portions 2_1 and 2_2.

  According to the configuration described in the present embodiment, the heat dissipation support portions 2_1 and 2_2 are provided to push the outer side surface of the motor housing 13 and the inner side surface of the robot housing 1 by elastic force. By radiating heat from the robot, a robot capable of continuous operation for a longer time can be obtained. Moreover, according to the configuration described in the present embodiment, the assemblability is better and the weight can be reduced as compared with a robot having a conventional heat dissipation structure.

  In the present embodiment, a single arm type robot is illustrated as an apparatus provided with a drive unit, but the same configuration can be adopted even with other apparatuses. For example, as an example of an apparatus using a drive unit, an XY table for driving a horizontal surface, a machine tool, a construction machine, etc. are exemplified. The construction machine is exemplified by a crane.

  In the case of an XY table in which the motor 10 is placed at the bottom or the top of the table to drive the table which is a horizontal surface, the distance between the table and the motor 10 tends to be short, so the heat of the motor 10 is transmitted to the table without being dissipated And the table may be thermally deformed. Even in such a case, it is possible to suppress the deformation of the table described above by radiating the heat generated by the motor 10 through the heat dissipation support portion 2 and the robot casing fixing portion 1a.

Second Embodiment
In the first embodiment, the configuration in which the heat radiation support portion is in contact with the two side surfaces of the motor casing has been described, but the present invention is not limited to this. In the present embodiment, a configuration will be described in which the corner of the motor applies an elastic force to the heat dissipation support.

  FIG. 7 is a bottom view of the robot case 1A of the present embodiment. The heat radiation support portions 2A_1 and 2A_2 shown in FIG. 7 support the motor 10 at the corners of the motor 10. In the configuration shown in FIG. 7, the number of the heat dissipating support portions is the same as the configuration shown in FIG. 5, and there is no significant difference in the total contact area between the motor and the heat dissipating support portion. Here, the largest heat generation point in the motor 10 is the closest part between the core and the motor housing, and is the central part of the four sides when viewed from the rotational axis direction. According to the configuration shown in FIG. 7, since the heat radiation support portion 2A can contact all the largest heat generation points in the motor 10, heat can be evenly dissipated from the largest heat generation portion, and the installation of the heat radiation support portion The heat radiation efficiency can be increased without increasing the number.

  Also according to the present embodiment, the heat radiation support portions 2A_1 and 2A_2 are configured to push the outer side surface of the casing of the motor 10 and the inner side surface of the robot casing 1A with elastic force, and bend the heat radiation support portion when assembling the motor. As long as it is inserted, it is easy to assemble. Moreover, heat radiation from a plurality of places is also possible according to this embodiment.

Third Embodiment
In the first and second embodiments, the configuration in which the heat dissipating support portion is in contact with two places on the outer surface of the motor casing has been described, but the present invention is not limited to this. It may be in contact with three or more places on the outer surface. In the present embodiment, a configuration will be described in which the heat radiation support portion is in contact with four places on the side surface of the motor casing.

  FIG. 8 is a bottom view of a robot case 1B according to a first example of the present embodiment. In FIG. 8, the heat radiation support portions 2B_1, 2B_2, 2B_3, and 2B_4 having the same shape as the heat radiation support portions 2_1 and 2_2 of FIG. 5 are disposed in contact with the four sides of the motor 10. In the configuration shown in FIG. 8, the heat dissipation support is added to the configuration shown in FIG. 5, and the total contact area between motor 10 and heat dissipation support 2B_1, 2B_2, 2B_3, 2B_4 is wide, and the casing of motor 10 The heat can be dissipated evenly from the entire side of the The heat release amounts of the heat radiation support portions 2B_1, 2B_2, 2B_3, 2B_4 in the configuration shown in FIG. 8 are larger than those in any of the configurations shown in FIGS.

  In the present invention, the shape of the housing of the motor 10 may not be rectangular as shown in FIG. 8, and the shape of the housing of the motor 10 may be cylindrical. FIG. 9 is a bottom view of a robot case 1C according to a second example of the present embodiment. In FIG. 9, the bottom surface of the motor 10 is circular, and the heat radiation supporting portions 2C_1, 2C_2, and 2C_3 are arranged at equal intervals in three directions. According to the configuration shown in FIG. 9, the present invention can be applied even if the casing of the motor 10 has a cylindrical shape.

  Also according to the present embodiment, the heat radiation support portions 2B_1, 2B_2, 2B_3, 2B_4 are configured to push the outer side surface of the casing of the motor 10 and the inner side surface of the robot case 1B with elastic force. , 2C_3 are configured to push the outer side surface of the casing of the motor 10 and the inner side surface of the robot casing 1C by elastic force, and the heat dissipating support may be bent and inserted at the time of assembly of the motor. . Moreover, heat radiation from a plurality of places is also possible according to this embodiment.

Fourth Embodiment
In the first to third embodiments, the configuration in which the heat dissipating support portion is “shaped” is described, but the present invention is not limited to this, and the heat dissipating support portion is directed to the side surface of the motor housing It is sufficient that the outer surface of the motor case and the inner surface of the robot case are pushed by elastic force. Note that in order for the heat dissipating support portion to have elasticity, it is necessary that a portion of the heat dissipating support portion be bent or bent.

  FIG. 10 is a bottom view of a robot case 1D according to a first example of the present embodiment. Although the heat radiation support portions 2D_1, 2D_2, 2D_3, 2D_4 shown in FIG. 10 are not “square-shaped” like the heat radiation support portions shown in FIG. 5, the outer surface of the housing of the motor 10 and the robot housing fixing portion The portion between the inner surface of the motor 1a and the inner surface is a wave shape, and the heat radiation supporting portions 2D_1, 2D_2, 2D_3, 2D_4 elastically deform the outer side surface of the housing of the motor 10 and the inner side surface of the robot housing 1D. It is the structure pushed by force. In the configuration shown in FIG. 10, since the heat radiation support portions 2D_1, 2D_2, 2D_3 and 2D_4 are in the shape of a waveform, the heat radiation support portions as shown in FIGS. As compared with the above, there is no local stress concentration, and the mechanical strength of the heat radiation supporting portions 2D_1, 2D_2, 2D_3, 2D_4 can be increased.

  FIG. 11 is a bottom view of a robot case 1E according to a second example of the present embodiment. The shape of the heat radiation support portions 2E_1 and 2E_2 shown in FIG. 11 is not a square shape but a wave shape, and a bar shape, but the robot case fixing portion 1a and the heat radiation support portions 2E_1 and 2E_2 An acute angle portion is formed between the heat radiation support portions 2E_1 and 2E_2 by bending the acute angle portions so that the outer surface of the case of the motor 10 and the inner side surface of the robot case 1E are elastically pressed. Yes, it has elasticity. In the configuration shown in FIG. 11, the heat dissipation path can be made shorter than in the configuration shown in FIG. 5, and the heat dissipation efficiency can be increased.

  FIG. 12 is a bottom view of a robot case 1F according to a third example of the present embodiment. In FIG. 12, a honeycomb shaped, ie, porous, heat dissipating support portion 2F is shown. The heat dissipating support portion 2F shown in FIG. 12 is also configured to push the outer side surface of the casing of the motor 10 and the inner side surface of the robot casing 1F with elastic force, and the present invention can be realized. With the configuration shown in FIG. 12, not only can the heat radiation path be made shorter than the configuration shown in FIG. 5, but also the mechanical strength of the heat radiation support portion can be increased.

  Also according to the present embodiment, at the time of assembly of the motor, the heat dissipating support may be bent or inserted for insertion, and the assemblability is good. Further, according to this embodiment, heat can be dissipated from a plurality of places.

  In the first to fourth embodiments, the configuration in which the width of the motor case is not changed has been described, but the present invention is not limited to these, and the elastic force of the heat radiation supporting portion is provided on the outer surface of the motor case. The width of the motor housing may not be uniform as long as the force is applied.

Embodiment 5
In the first to fourth embodiments, the entire heat dissipating support portion is configured to have elasticity, but the present invention is not limited to this, and a portion of the heat dissipating support portion is not configured to have elasticity. It is also good. FIG. 13 is a bottom view of the robot case 1G of the present embodiment. The heat dissipating support portion 2G_1 has elasticity as in the first embodiment, and the heat dissipating support portion 2G_2 is a rigid body. In addition, a metal body can be illustrated to a rigid body. In the configuration shown in FIG. 13, the position of the motor can be fixed at a position positioned by the heat dissipating support 2G_2 which is a rigid body, and a load can be applied by the heat dissipating support 2G_1 having elasticity.

  Also according to the present embodiment, the heat dissipating support may be bent and inserted at the time of assembly of the motor, and the assemblability is good. Further, according to this embodiment, heat can be dissipated from a plurality of places.

  Further, the position of the motor 10 is determined by the heat dissipating support 2G_2 which is a rigid body, and the heat dissipating support 2G_1 having elasticity is disposed between the housing of the motor 10 and the robot case fixing portion 1a. The heat dissipating support portion 2G_1 is configured to push the outer side surface of the casing of the motor 10 and the inner side surface of the robot casing 1G with an elastic force.

  Therefore, according to the present embodiment, the heat dissipating support portion in a state where the position of the motor is fixed rather than the configuration in which the heat dissipating support portion on both sides sandwiching the motor casing has elasticity as in the first embodiment. Load can be applied to the motor housing.

  In the above-described first to fourth embodiments and the present embodiment, although the heat dissipation support portions of various forms have been described, all of the heat dissipation support portions are the outer surface of the motor housing and the inner surface of the robot housing In the present invention, the form of the heat dissipating support portion is not limited.

Sixth Embodiment
In the present invention, a cooling mechanism via a fluid may be combined with the configurations of the first to fifth embodiments described above. By combining the heat dissipating support cooling mechanism, the motor can be cooled more efficiently.

  FIG. 14 is a cross-sectional perspective view of a robot casing 1_2 of the present embodiment. In FIG. 14, the internal configuration of the robot case fixing portion 1a is the same as that of the first embodiment. In FIG. 14, a cooling fan 17 is provided at the lower part of the motor 10. The cooling fan 17 is fixed to the robot case 1 via the cooling fan support 18. Further, the robot case fixing portion 1a is provided with a cooling hole 19 for passing air, which is a fluid. The inside of the robot case fixing portion 1a is a flow path through which the fluid passes.

  According to the present embodiment, since the air carried by the rotation of the cooling fan 17 deprives the heat of the heat radiation support portions 2_1 and 2_2, the electric motor 10 can be cooled more efficiently. Thus, the continuous operation time of the motor 10 can be further lengthened. Further, as in the first embodiment, when the cross-sectional shapes of the heat radiation support portions 2_1 and 2_2 are the same, the air from the cooling fan 17 flows along the surfaces of the heat radiation support portions 2_1 and 2_2, and more efficient cooling is achieved. It becomes possible. By forming the heat dissipating support portions 2_1 and 2_2 along the flow path, the air from the cooling fan 17 can easily flow along the surfaces of the heat dissipating support portions 2_1 and 2_2, and more efficient cooling becomes possible. .

  The torque limiting mechanism may be configured by combining the configurations of the above-described first to fifth embodiments and the present embodiment.

  The present embodiment may be combined with the second to fifth embodiments.

  The configuration shown in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and one of the configurations is possible within the scope of the present invention. Parts can be omitted or changed.

  1, 1A, 1B, 1C, 1D, 1E, 1F, 1G, 1_2 Robot case, 1a Robot case fixed part, 1b Robot case movable part, 2_1, 2_2, 2A2A_1, 2A_2, 2B_1, 2B_2, 2B_3, 2B_4 , 2C_1, 2C_2, 2C_3, 2D_1, 2D_2, 2D_3, 2D_4, 2E_1, 2E_2, 2F, 2G_1, 2G_2 Heat dissipation support, 3 reduction gear, 4 fixed surface, 10 motor, 11 rotor, 12 core, 13 motor casing , 14a, 14b brackets, 15a, 15b bearings, 16 encoders, 17 cooling fans, 18 cooling fan supports, 19 cooling holes, 21 controllers, 22 processors, 23 memories, 30 drives.

Claims (11)

A motor disposed in the first housing;
A plurality of heat radiations arranged in a bent or bent state in contact with the inner side surface of the first case and the outer side surface of the second case which is the case of the electric motor, at least a part of which is elastic A support,
Drive unit, characterized in that to obtain Bei and a filler filled in the gap between the plurality of the heat radiating support. The drive unit according to claim 1, wherein the filler is a resin material. The heat dissipating support portion has a letter, waveform, or honeycomb shape between the inner surface of the first housing and the outer surface of the second housing when viewed from the rotational axis direction of the motor. The drive unit according to claim 1, wherein the drive unit includes a bending portion. The motor has a shape having four sides when viewed from the rotational axis direction of the motor,
The drive unit according to claim 1 or 2 , wherein the portion in which the heat dissipating support portion is in contact with the outer surface of the second housing includes central portions of four sides as viewed from the rotational axis direction of the motor. . During the rotation of the stationary state or the motor of the motor, in any one of claims 1 to 4, characterized in that the sum of forces due to the elastic force of the heat radiating supporting portion of the to the second housing canceled Drive unit as described. The drive unit according to any one of claims 1 to 4 , wherein a material of the heat dissipating support portion is a metal or a resin. The drive unit according to any one of claims 1 to 4 , wherein the heat dissipating support has a bending or bending portion. The drive unit according to any one of claims 1 to 4 , wherein the heat dissipating support portion includes a first heat dissipating support portion which is elastic and a second heat dissipating support portion which is a rigid body. A fluid-based cooling mechanism in the first housing;
The drive unit according to any one of claims 1 to 4 , wherein the heat dissipation support portion has a shape along a flow path of the fluid. The drive unit according to any one of claims 1 to 9 , further comprising: a fixed portion including the motor and the heat dissipating support portion; and a movable portion driven by the motor. The drive unit according to any one of claims 1 to 10 .
A control unit configured to control the motor.

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