JPH0985673A - Arm drive part cooling device for industrial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stir the air in a housing and to efficiently radiate heat in the housing to the outside by providing fans fixed to loading side shaft ends of respective motors in adjacent to pulleys. SOLUTION: When motors 22, 23, 24 for driving respective transmission shafts are driven, air in a housing 21 is sent to the outer circumferential direction. The air is sent from air holes 222A, 232A, 162A of pulleys 222, 232, 162 adjoining to each other to the inside diametrical sides of fans 223, 233, 243, the air in the housing 21 is efficiently stirred, and heat transmitted from the respective motors and bearings to the inside of the housing 21 is radiated from the housing 21 to the outside.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cooling device for an arm driving part of an industrial robot having a plurality of joints.

[0002]

2. Description of the Related Art Conventionally, for example, as shown in FIG. 2, an industrial robot 1 includes a fixed base 11 and a fixed base 11.
On the swivel base 12, a swivel base 12 swiveling around an S axis extending vertically is provided, a first arm 13 swiveling around an L axis extending horizontally on the swivel base 12, and a second arm 14 is provided. The first arm 13 is designed to rotate about a U-axis extending in the horizontal direction. The second arm 14 has a third arm 15 that rotates about an R axis that extends in the longitudinal direction, and a wrist that is attached to the third arm 15 and that rotates about a B axis that extends perpendicular to the R axis. 16 and a tool holder 17 that is attached to the wrist 16 and that rotates around a T axis extending in the direction perpendicular to the B axis.
A drive unit 2 for driving the arm 15, the wrist unit 16, and the tool holder 17 is provided. As shown in FIG. 3, the driving unit 2 includes a third arm 15 and a wrist unit 1 at the end of the second arm 14.
6, a hollow transmission shaft 151 for driving the tool holder 17, a hollow transmission shaft 161, and a solid transmission shaft 171.
The shafts are arranged concentrically, and the pulleys 15 are respectively attached to the shaft ends.
2, 162 are fixed, and bearings 153, 163 are provided between the transmission shaft 151 and the transmission shaft 161, and between the transmission shaft 161 and the transmission shaft 171, respectively. In addition, the second arm 15
A housing 21 is attached to the end of each of the transmission shafts and the pulleys to keep the inside sealed.
Motors 22, 23, 24 for driving the arm 15, wrist 16, and tool holder 17 are attached. Motor 2
2, 23 and 24 have fans 221, 231 on the non-load side,
241 is attached to cool each motor. Motor 2
2 transmits power to the transmission shaft 151 via the pulley 222, the timing belt 154 and the pulley 152, and transmits power from the motor 23 to the transmission shaft 161 via the pulley 232, the timing belt 164 and the pulley 162. Power is transmitted from 24 to the transmission shaft 171 via a coupling 242.

[0003]

However, in the above-mentioned prior art, since the motor is cooled by the fan provided inside or outside the motor, the outer shape of the motor becomes large and heat is trapped in the housing. There is a problem in that the temperature of the bearing on the load side of the motor and the bearing provided on the transmission shaft side are high and the life of the bearing is shortened. SUMMARY OF THE INVENTION An object of the present invention is to provide an arm driving unit cooling device for an industrial robot that facilitates heat dissipation in the housing to the outside and efficiently cools the arm driving unit.

[0004]

In order to solve the above-mentioned problems, the present invention provides a fixed base, a swivel base that swivels around an S axis extending vertically on the fixed base, and an upper swivel base. A first arm that rotates about an L axis that extends in the horizontal direction, a second arm that rotates around a U axis that extends on the horizontal direction that is provided on the first arm, and a second arm that extends in the longitudinal direction. A third arm that rotates around an extending R axis, a wrist that is attached to the third arm and that rotates around a B axis that is orthogonal to the R axis, and a wrist that is attached to the wrist and that is attached to the B axis. The tool holder that rotates around the orthogonal T-axis, the third arm, the wrist, and the tool holder are respectively driven, and three transmission shafts arranged concentrically with each other, and fixed to the respective transmission shafts. Pulley, each transmission shaft and each pulley A housing attached to the end of the second arm to keep the inside sealed, a bearing provided between the transmission shafts, and attached to the housing, the third arm, the wrist and the tool, respectively. In an arm driving part cooling device for an industrial robot equipped with motors for respectively driving holders and pulleys respectively provided at load-side shaft ends of the motors, the load-side shaft ends of the motors are adjacent to the pulleys. It has a fixed fan. Further, each of the pulleys is provided with a plurality of ventilation holes penetrating in the axial direction.

[0005]

When the motors for driving the respective transmission shafts are driven by the above means, the air in the housing is sent in the outer peripheral direction by the fan, and at the same time, the air is blown from the ventilation holes of the pulleys adjacent to each other to the inner diameter side of the fan. The air inside the housing is efficiently stirred and the heat inside the housing is dissipated from the housing to the outside.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a plan sectional view of an arm drive unit showing an embodiment of the present invention. The configuration of the embodiment of the present invention has a lot in common with the configuration of the conventional example described with reference to FIG.
The portions common to the present invention will be described with the same reference numerals as those of the conventional example. That is, in the figure, the drive unit 2 is
A hollow transmission shaft 151 for driving the third arm 15, the wrist 16, and the tool holder 17, respectively, at the end of the arm 15.
A hollow transmission shaft 161 and a solid transmission shaft 171 are arranged concentrically with each other, and pulleys 152, 16 are respectively provided at their shaft ends.
2 is fixed, and the bearing 15 is provided between the transmission shaft 151 and the transmission shaft 161 and between the transmission shaft 161 and the transmission shaft 171, respectively.
3, 163 are provided. The pulleys 152, 162 are provided with a plurality of ventilation holes 152A, 162A penetrating in the axial direction. In addition, the housing 2 is attached to the end of the second arm 15.
1 attached to the third arm 15, the wrist 16,
Motors 22, 23, 24 for driving the tool holder 17 are attached. The load side shaft ends of the motors 22 and 23 are adjacent to the pulleys 222 and 232, respectively.
3, 233 are fixed, and a fan 243 is attached to the coupling 242 at the load side shaft end of the motor 24. The pulleys 222, 232 are provided with a plurality of ventilation holes 222A, 232A penetrating in the axial direction. From the motor 22 to the transmission shaft 151, the pulley 222, the timing belt 154,
Power is transmitted through the pulley 152, and the pulley 232 and the timing belt 16 are transmitted from the motor 23 to the transmission shaft 161.
4, the power is transmitted via the pulley 162, and the power is transmitted from the motor 24 to the transmission shaft 171 via the coupling 242.

Motors 22, 23, 2 for driving the respective transmission shafts
4 is driven, the air inside the housing 21 is sent in the outer peripheral direction by the fans 223, 233, 243 as shown by the arrows, and the ventilation holes 222A, 232A, 232A, 232A of the pulleys 222, 232, 162 adjacent to each of them are
Air is sent from the 162A to the inner diameter side of the fans 223, 233, 243, the air inside the housing 21 is efficiently agitated, and the heat transferred from each motor and each bearing to the inside of the housing 21 is transferred from the housing 21 to the outside. Dissipated. Therefore, it is possible to prevent heat from staying inside the housing 21, and it is possible to prevent the temperature of the bearings on the load side and the transmission shaft side of the motor from rising.

[0008]

As described above, according to the present invention, the pulley fixed to the load side shaft end of the motor is provided with the ventilation hole in the axial direction, and the fan is provided adjacent to the pulley. The air inside the housing is agitated, and the heat inside the housing is efficiently dissipated from the housing to the outside. Therefore, it is possible to prevent heat from staying inside the housing, prevent the temperature of the bearing on the load side of the motor and the bearing provided on the transmission shaft side from rising, and efficiently cool the arm drive section. This is effective in providing a partial cooling device.

[Brief description of drawings]

FIG. 1 is a plan sectional view showing an embodiment of the present invention.

FIG. 2 is a side view showing an industrial robot.

FIG. 3 is a plan sectional view showing a conventional example.

[Explanation of symbols]

1: Industrial robot, 11: Fixed base, 12: Revolving base, 13: First arm, 14: Second arm, 15: Third arm, 16: Wrist part, 17: Tool holder, 15
1, 161, 171: Transmission shaft, 152, 162: Pulley, 152A, 162A: Vent hole, 154, 164: Timing belt, 2: Drive part, 21: Housing, 2
2, 23, 24: Motor, 222, 232: Pulley, 2
22A, 232A: Vent hole, 242: Coupling, 2
23, 233, 243: Fans

Claims (2)

[Claims] 1. A fixed base, a swivel base that swivels around an S axis that extends vertically on the fixed base, and a first swivel that rotates about an L axis that extends horizontally on the swivel base. An arm, a second arm that is provided on the first arm and that rotates about a U-axis that extends in the horizontal direction, a third arm that rotates about an R-axis that extends on the second arm in the longitudinal direction, and A wrist attached to the third arm and rotatable about a B axis orthogonal to the R axis; a tool holder attached to the wrist and rotatable about a T axis orthogonal to the B axis; The third arm, the wrist and the tool holder are respectively driven to cover the three transmission shafts concentrically arranged with each other, the pulleys fixed to the respective transmission shafts, the transmission shafts and the respective pulleys, 2 Attached to the end of the arm to keep the inside A housing that maintains a closed state, a bearing that is provided between the transmission shafts, a motor that is mounted on the housing and that drives the third arm, the wrist portion, and the tool holder, and a load-side shaft of each motor. An industrial robot arm drive cooling device having pulleys respectively provided at ends thereof, wherein a fan fixed adjacent to the pulleys is provided at a load-side shaft end of each motor. Arm drive cooling device 2. The arm drive cooling device for an industrial robot according to claim 1, wherein each of the pulleys is provided with a plurality of ventilation holes penetrating in the axial direction.