TW202322998A - Articulated robot - Google Patents

Abstract

An articulated robot (1) having a plurality of articulation shafts, wherein: the articulated robot (1) comprises a plurality of motors (11m-16m) for respectively driving the plurality of articulation shafts, and at least one motor drive device (200, 300) for driving at least one of the plurality of motors, the at least one motor drive device (200, 300) being positioned inside an internal space in an elongated portion of a casing of the articulated robot, the internal space being located between a first motor that drives one articulation shaft among the plurality of articulation shafts and a second motor that drives an articulation shaft subsequent to the one articulation shaft as seen from a proximal section of the articulated robot; the at least one motor drive device (200, 300) has a printed board on which is mounted a circuit for driving the at least one motor; and the printed board is positioned in the elongated portion in a state of being inclined relative to the elongation direction of the elongated portion such that the angle between the surface of the printed board and the elongation direction is greater than 0 degrees and less than 90 degrees.

Description

multi-joint robot

field of invention

The invention relates to a multi-joint robot.

Background of the invention

A robot is known in which a motor drive device that supplies electric power to a motor that drives a joint of the robot is built in a robot case (for example, Patent Document 1). This type of motor driving device generally includes: a control circuit, which controls the position, speed, torque, etc. of the motor; and an inverter circuit, which generates an AC power signal from a DC power.

Regarding the robot for assembly, Patent Document 2 records: "Control devices 34 and 35 are provided on the first revolving arm 26, and the control devices 34 and 35 control the first revolving servo motor 32 and the second revolving servo motor respectively. Power-On Control" (paragraph 0014).

Furthermore, regarding the structure of the robot, Patent Document 2 describes: "In the first embodiment, the sensor parts S1-S6 and the circuit boards 21-34 are connected by wires 141-146. Then, the sensor parts S1-S6 S6 and the circuit boards 31 to 34 are arranged inside the robot body 150 so that the branch lines 141 to 146 do not pass through the joints J1, J4, and J6 as torsion joints." (paragraph 0025).

Also, regarding the structure of the robot, Patent Document 3 records: "A resolver (resolver) R1 is built in the first motor M1, and the above-mentioned resolver R1 detects the absolute position of the rotation angle of the output shaft of the first motor M1. The device R1 is connected to the drive circuit board 25 disposed inside the base 11, and is driven by the drive power output from the drive circuit board 25." (paragraph 0023). Prior art literature patent documents

Patent Document 1: Japanese Patent Application Laid-Open No. 2000-25999 Patent Document 2: Japanese Patent Application Laid-Open No. 06-320475 Patent Document 3: Japanese Patent Laid-Open No. 2019-089143 Patent Document 4: Japanese Patent Laid-Open No. 2012-218136

Summary of the invention The problem to be solved by the invention

Patent Document 1 describes a configuration in which a substantially circular control board and a drive board are disposed on the back of an actuator including a motor and a reduction gear so as to face the actuator. However, if the control board and the like are formed in a circular shape and arranged to face the actuator in this way, the area as a printed board is limited. There is a need for a robot configuration that can secure a large board area for a motor drive device. means to solve problems

One aspect of the present disclosure is a multi-joint robot, which has a plurality of joint axes, and the aforementioned multi-joint robot has: a plurality of motors, which are used to respectively drive the aforementioned plurality of joint axes; and at least one motor drive device, which is arranged on The inner space of the extension part of the shell of the articulated robot between the first motor and the second motor is used to drive at least one motor among the plurality of motors, and the first motor drives one of the plurality of joint shafts The joint shaft, the aforementioned second motor drives the next joint shaft of the aforementioned joint shaft seen from the base of the aforementioned multi-joint robot; the aforementioned at least one motor drive device has a printed board, and the aforementioned printed board is equipped with a motor for driving the aforementioned at least one motor. In the circuit, the printed circuit board is disposed on the extended portion in a state of being inclined with respect to the extending direction such that an angle between the surface of the printed circuit board and the extending direction of the extending portion is greater than 0° and less than 90°. Invention effect

According to the above configuration, it is possible to ensure a large area of the substrate on which the circuit for driving the motor of the joint axis of the articulated robot is mounted.

These objects, features, and advantages of the present invention, and other objects, features, and advantages will become clearer from the detailed description of typical embodiments of the present invention shown in the accompanying drawings.

form for carrying out the invention

Next, embodiments of the present disclosure will be described with reference to the drawings. In the drawings referred to, the same reference signs are attached to the same constituent or functional parts. For ease of understanding, the scales of these drawings are appropriately changed. In addition, the form shown in a figure is an example for implementing this invention, and this invention is not limited to a form shown in figure.

FIG. 1 is a perspective view showing the external configuration of a robot 1 according to the present embodiment. Furthermore, six actuators 11 - 16 are also shown in FIG. 1 , and the aforementioned six actuators 11 - 16 are arranged in a casing constituting the arm of the robot 1 . As shown in FIG. 1 , the robot 1 has a housing with a substantially circular cross-section, and is a 6-axis articulated robot with 6 joint axes. 6 actuators 11-16 between the end effector (end effector) mounting parts of the drive. Each actuator 11-16 includes a motor and a speed reducer. The joint axes are called J1 axis, J2 axis, J3 axis, J4 axis, J5 axis, and J6 axis in order from the base side. The robot 1 includes an actuator 11 that drives the J1 axis, an actuator 12 that drives the J2 axis, an actuator 13 that drives the J3 axis, an actuator 14 that drives the J4 axis, and an actuator that drives the J5 axis in order from the base side. Actuator 15 and actuator 16 that drives the J6 axis. In FIG. 1 , arrows J1 to J6 indicate the directions of rotation of the axes by the actuators 11 - 16 .

The robot 1 has a base 10 serving as a base supporting the entire robot 1, a J1 arm 21 driven by an actuator 11 to revolve around a J1 axis in the vertical direction, and a J2 arm 21 driven by an actuator 12 to revolve around a J2 axis extending in the horizontal direction. The J2 arm 22 that revolves around the axis, the J3 arm 23 that is driven by the actuator 13 to revolve around the J3 axis, the J4 arm 24 that is driven by the actuator 14 to revolve around the J4 axis, and the J4 arm 24 that is driven by the actuator 15 to revolve around the J3 axis The J5 arm 25 that rotates around the J5 axis, and the J6 arm 26 that is a wrist portion that is driven by the actuator 16 to rotate around the J6 axis.

FIG. 2 is a diagram showing a configuration example of a control system for controlling the robot 1 . As shown in FIG. 2 , the control system includes a robot 1 , a robot control device 50 for controlling the robot 1 , and a teaching operation panel 60 connected to the robot control device 50 . The teaching operation panel 60 is used for teaching the robot 1 . The robot control device 50 controls the operation of the robot 1 according to commands or operation programs from the teaching operation panel 60 . The robot 1 has six actuators 11-16, and control circuits 11c-16c and drive circuits 11d-16d for driving and controlling them.

The actuator 11 has a motor 11m and an encoder 11e that outputs the rotational position of the motor 11m. Similarly, the actuator 12 has a motor 12m and an encoder 12e for outputting the rotational position of the motor 12m, the actuator 13 has a motor 13m and an encoder 13e for outputting the rotational position of the motor 13m, and the actuator 14 has a motor 14m , and an encoder 14e that outputs the rotational position of the motor 14m, the actuator 15 has a motor 15m, and an encoder 15e that outputs the rotational position of the motor 15m, and the actuator 16 has a motor 16m, and an encoder that outputs the rotational position of the motor 16m device 16e. In addition, generally speaking, the closer to the base side, the larger the load driving capacity and the larger the size of the motor.

In the casing constituting the arm of the robot 1, a control circuit 11c and a drive circuit 11d for controlling and driving the actuator 11 are arranged, and a control circuit 12c and a drive circuit 12c for controlling and driving the actuator 12 are disposed. Circuit 12d, a control circuit 13c and a drive circuit 13d for controlling and driving the actuator 13, a control circuit 14c and a drive circuit 14d for controlling and driving the actuator 14, and a drive circuit 14d for controlling and driving the actuator 13. A control circuit 15c and a drive circuit 15d for controlling and driving the actuator 15, and a control circuit 16c and a drive circuit 16d for controlling and driving the actuator 16.

Each of the control circuits 11c-16c is constituted by the same circuit, and the electrical specifications of the respective components may use common specifications. The driving circuits 11d to 16d can be configured with the same circuit, but since the load driving capability of the motor varies with each actuator, the output power will vary accordingly, so the power semiconductor devices (devices) etc. mounted are using different electrical specifications. The control circuit 11c performs servo control of the motor 11m, and the drive circuit 11d operates according to a control signal from the control circuit 11c, and outputs an electric power signal for driving the motor 11m. The control circuits 12c-16c also have the same function as the control circuit 11c, and the drive circuits 12d-16d also have the same function as the drive circuit 11d.

The motion control unit 51 in the robot controller 50 generates a trajectory plan according to the motion program, obtains the position of each axis through kinematic calculation, and sends commands to the actuators of each axis. The control circuits 11c-16c of the actuators 11-16 perform servo control on the motor according to the instructions from the motion control unit 51, and the drive circuits 11d-16d output the control signals according to the control signals from the control circuits 11c-16c. The electrical signal that drives the motor.

3 is a diagram showing a configuration example of a circuit (that is, a circuit for driving a motor) of a motor drive device including a control circuit and a drive circuit. Here, although the circuit configurations of the control circuit 11c and the driving circuit 11d are shown as a representative, the control circuits 12c-16c also have the same circuit configuration as the control circuit 11c, and the driving circuits 12d-16d also have the same circuit configuration as the driving circuit 11d. circuit configuration.

As shown in Figure 3, the control circuit 11c has: a connector (connector) 111, which is used to receive command signals from the motion control part 51 of the robot control device 50; a connector 113, which is used to receive the position from the encoder 11e Feedback signals, etc.; and a connector 114 for supplying control signals to the drive circuit 11d. Furthermore, the control circuit 11c has a PWM switching signal generation unit 112 that generates a PWM switching signal in accordance with commands from the operation control unit 51 and various feedback signals such as position feedback signals. Furthermore, the PWM switching signal generating unit 112 may also be constituted by an MCU (microcontroller unit), or a dedicated or customized LSI, or the like. With this configuration, the control circuit 11c executes servo control of the motor 11m in accordance with commands (position commands, etc.) from the operation control unit 51 .

The drive circuit 11d includes: a connector 121 for receiving an external power supply; a connector 127 for receiving a control signal from the control circuit 11c; and a connector 126 for outputting the power of the alternating current used to drive the motor 11m signal. Also, the drive circuit 11d has: a power supply unit 122 including a smoothing capacitor 123; and an inverter unit 124 that generates U-phase, V-phase, and W-phase electric power in accordance with a PWM switching signal from the control circuit 11c. Signal 125. Since the power supply unit 122 is a part responsible for the function of supplying a DC power supply, it is indicated by a symbol of a DC power supply in this figure. In this configuration, U-phase, V-phase, and W-phase power signals 125 are output through connectors 126 . The switching element constituting the inverter unit 124 is composed of power semiconductor devices such as MOSFET, IGBT (Insulated Gate Bipolar Transistor), and IPM (Intelligent Power Module).

If the control circuit 11c and the drive circuit 11d configured as above are mounted on a substantially circular printed circuit board, they are arranged to face the ends of the actuators 11-16 in the direction of the joint axes of the actuators 11-16 (in other words, , if the printed circuit board is arranged perpendicular to the central axis direction of the housing part where the actuator is arranged), the area of the printed circuit board will be limited by the inner diameter of the cylindrical robot arm. In addition, when the cylindrical extension of the robot arm is adopted, it can be divided by a section parallel to the central axis of the extension (that is, the circular section is divided into semicircles), and the extension When part of the internal space is configured with a printed circuit board, the printed circuit board can be made into a rectangle extending toward the central axis of the extension part, which can increase its area, but this type of division of the shell may lead to a decrease in the strength of the robot arm.

Therefore, in the robot 1 of the present embodiment, the printed circuit board constituting the motor drive device is arranged such that a motor that drives one of a plurality of joint axes and a motor that drives the lower joint that is the above-mentioned one joint axis viewed from the base of the robot 1 An extension of the shell of the robot 1 between the motors of a joint shaft, the surface of the printed board is inclined relative to the extension direction of the extension. That is, the printed circuit board is disposed on the extended portion in a state where the angle (angle α in FIG. 8 ) between the surface of the printed circuit board and the extending direction of the extended portion is larger than 0° and smaller than 90°. In addition, the extension direction can also be said to be the direction of the central axis in the casing of the robot 1 formed in a substantially cylindrical shape. With this configuration, the area of the substrate can be increased compared to the case where the printed circuit board constituting the motor drive device is formed into a substantially circular shape and arranged perpendicular to the axial direction so as to face the actuator.

In industrial multi-joint robots, especially 6-axis multi-joint robots, the J2 arm 22 and J3 arm 23 in the whole arm are in charge of the movement of the human arm. In order to ensure the main part of the robot's movable range, the above properties To consider, it will generally be formed longer. Therefore, in the entire arm portion, the J2 arm 22 and the J3 arm 23 can secure a large internal space for arranging components. In addition, the J1 arm 21 is the part that supports the entire robot 1. Considering the above properties, it will adopt a large diameter and short structure. Since the J4 arm 24 and the J5 arm 25 are arms close to the wrist, they are generally shorter than the J2 arm. 22. The J3 arm 23 is made shorter. Since the J6 arm 26 constitutes the wrist portion, it is short.

In view of such structural characteristics of the 6-axis multi-joint robot, in this embodiment, the motor drive device for driving the motors in the actuators of each axis is used to arrange at least one of the J2 arms or the J3 arms. the composition of either.

A specific configuration example (embodiment) of the robot 1 will be described below.

FIG. 4 is a perspective view showing the configuration of the robot 1 of the first embodiment. Also shown in FIG. 4 is the arrangement of the printed circuit board constituting the motor drive device inside the arm. As shown in FIG. 4, in the J2 arm 22 driven by the actuator 12, two printed circuit boards PT1 and PT2 are arranged as motor drive devices, and in the J3 arm 23 driven by the actuator 13, two printed circuit boards PT1 and PT2 are arranged as motor drives. Two printed circuit boards PT11 and PT12 for the drive unit. The printed boards PT11 and PT12 are arranged in the J3 arm 23 between the actuator 13 for driving the J3 axis and the actuator 14 for driving the J4 axis.

The printed boards PT1 and PT2 control and drive the actuators 11-13, and the printed boards PT11 and PT12 control and drive the actuators 14-16. More specifically, control circuits 11c, 12c, and 13c for controlling the actuators 11-13 are mounted on the printed circuit board PT1 arranged in the J2 arm 22 (see FIG. 2 ). Moreover, drive circuits 11d, 12d, and 13d for supplying electric power signals to the actuators 11-13 are mounted on the printed circuit board PT2.

The printed circuit board PT11 arrange|positioned in the J3 arm 23 mounts the control circuit 13c, 14c, 15c for controlling the actuator 14-16. Moreover, drive circuits 14d, 15d, and 16d (refer to FIG. 2 ) for supplying electric power signals to the actuators 14-16 are mounted on the printed circuit board PT12. Attached in the casing constituting the arm of the robot 1 are: cables for supplying power or control signals from the side of the robot control device 50 to the printed boards PT1, PT2, PT11, PT12, or the printed boards PT1 and PT2 and the actuators The cables between the actuators 11-13, the cables between the printed circuit boards PT11 and PT12 and the actuators 14-16, etc.

The casing of the robot 1 is provided with covers 31 , 32 , 33 , 34 , and these covers are fixed to the casing by fixing members (not shown) such as screws.

The cover body 32 is formed in a shape in which a part of the proximal end portion of the J2 arm 22 close to one side in the left-right direction in the drawing is cut out on a cut plane inclined to the central axis direction of the J2 arm 22 . That is, the cover body 32 is formed to be separable by cutting a part including the end and the side surface of one side of the J2 arm 22 at a cut surface inclined with respect to the extending direction of the J2 arm 22 . By removing the cover 32 from the body of the J2 arm 22, the printed substrates PT1 and PT2 can be fixed on the J2 arm along the substrates through the opening 22c of the body of the J2 arm 22 (refer to FIG. 8 and FIG. 9 ). 22 directions of posture inside the main body to easily enter and exit. By forming the cover body 32 as described above, the size of the cover body 32 as a separate body can be suppressed to a minimum, thereby suppressing damage caused by adopting a structure in which the cover body 32 and the main body of the J2 arm 22 can be separated. The overall strength of the J2 arm 22 is reduced.

The cover body 33 of the J3 arm 23 is formed in a shape in which a part of the proximal end of the J3 arm 23 close to the front side in the figure is cut out on a cut plane inclined with respect to the direction of the central axis of the J3 arm 23 . That is, the cover body 33 is formed to be separable by cutting a portion including the end and the side of one side of the J3 arm 23 at a cut surface inclined with respect to the extending direction of the J3 arm 23 . By removing the cover 33 from the main body of the J3 arm 23, through the opening of the main body of the J3 arm 23, the printed substrates PT11 and PT12 can be easily fixed along the direction of the posture of the boards fixed inside the main body of the J3 arm 23. in and out. By forming the cover body 33 as described above, the size of the cover body 33 as a separate body can be suppressed to a minimum, thereby suppressing damage caused by adopting a structure in which the cover body 33 and the main body of the J3 arm 23 can be separated. The overall strength of the J3 arm 23 is lowered.

FIG. 5 is a diagram showing a configuration example of the robot 1 according to the second embodiment. In the second embodiment, the arrangement positions of the printed circuit boards PT11 and PT12 are different from those in the first embodiment. Specifically, as shown in FIG. 5 , the arrangement positions of the printed circuit boards PT11 and PT12 are arranged on the front end side in the internal space of the J3 arm 23 . That is, in the J3 arm 23 , the printed circuit boards PT11 and PT12 are disposed between the actuator 14 for driving the fourth axis and the actuator 15 for driving the fifth axis.

Although the actuator 14 for rotating and driving the J4 arm 24 is arranged in the J3 arm, from the viewpoint of reducing the moment of inertia on the front end side of the arm, the actuator 14 is generally as in this embodiment (FIGS. 4 and 5). ) in the case of J3 arm 23, it is arranged at a position close to the base end side. Therefore, the second embodiment can be said to be an advantageous configuration when the space between the actuator 14 and the actuator 15 in the J3 arm 23 is large.

The cover body 34 of the J3 arm 23 is formed in a shape in which a portion near the front side of the front end of the J3 arm 23 is cut out with a cut surface inclined with respect to the central axis direction of the J3 arm 23 . That is, the cover body 34 is formed to be separable by cutting a part including the end and the side of one side of the J3 arm 23 at a cut surface inclined with respect to the extending direction of the J3 arm 23 . By removing the cover 34 from the main body of the J3 arm 23, through the opening of the main body of the J3 arm 23, the printed substrates PT11 and PT12 can be easily fixed along the direction of the posture of these boards inside the main body of the J3 arm 23. in and out. By forming the cover body 34 as described above, the size of the cover body 34 as a separate body can be suppressed to a minimum, and thereby it is possible to suppress damage caused by adopting a structure in which the cover body 34 can be separated from the main body of the J3 arm 23 . The overall strength of the J3 arm 23 is lowered.

The structure of the motor driving device 200 including the printed circuit board PT1 and the motor driving device 300 including the printed circuit board PT2 and the mounting structure of these motor driving devices 200 and 300 in the J2 arm 22 will be described below. In addition, the motor drive device including the printed circuit board PT11 may have the same configuration as the motor drive device 200 . In addition, the motor drive device including the printed circuit board PT12 may have the same configuration as the motor drive device 300 . Therefore, the arrangement and installation structure of the motor drive device including the printed circuit board PT11 and the motor drive device including the printed circuit board PT12 in the J3 arm 23 can adopt the arrangement and installation structure of the motor drive device 200, 300 in the J2 arm 22 Same composition. Therefore, the motor drive devices 200, 300 and their installation structures in the J2 arm 22 will be described below.

FIG. 6A is a perspective view showing a configuration example of a motor drive device 200 having a printed circuit board PT1 on which the control circuits 11c-13c are mounted. In FIG. 6B , a top view (symbol 200A), a side view (symbol 200B), a bottom view (symbol 200C) and a front view (symbol 200D) of the motor drive device 200 are shown. In FIG. 6C , a sectional perspective view of the motor driving device 200 along the line A-A shown in FIG. 6B is shown.

7A shows a perspective view of a configuration example of a motor drive device 300 having a printed circuit board PT2 on which drive circuits 11d to 13d are mounted. In FIG. 7B , a top view (symbol 300A), a side view (symbol 300B), a bottom view (symbol 300C) and a front view (symbol 300D) of the motor drive device 300 are shown. In FIG. 7C , a sectional perspective view of the motor driving device 300 along the line B-B shown in FIG. 7B is shown.

In FIG. 8 , a state in which the motor drive devices 200 and 300 are fixed to the inner space of the J2 arm 22 is shown as a cross-sectional view. In addition, the state which removed the cover body 32 is shown in FIG. In addition, in FIG. 8 , the printed circuit board PT1 constituting the motor drive device 200 and the printed circuit board PT2 constituting the motor drive device 300 are shown to be arranged inclined at an angle α with respect to the direction of the central axis C of the J2 arm 22 . In FIG. 9 , a perspective view showing a state in which the motor drive devices 200 and 300 are fixed in the inner space of the J2 arm 22 is shown. In addition, FIG. 9 shows the state which separates the cover body 32 from the J2 arm 22, cuts off a part of J2 arm 22, and can see the internal space.

As shown in FIG. 6A , the motor drive device 200 is constituted by a printed circuit board PT1 on which the control circuits 11c - 13c are mounted, and mounting parts 210 . In the following, for convenience of description, the side where the mounting surface 221 is located (the lower left side in the figure) may be referred to as the front side, and the opposite side may be referred to as the rear side. The mounting part 210 is constituted by the first mounting member 201 and the second mounting member 202 . The printed circuit board PT1 is sandwiched and held by the first mounting member 201 and the second mounting member 202 . The first mounting member 201 has a flat U-shape. The second mounting member 202 has a mounting edge portion 211 screwed and fixed to the first mounting member 201 , and a side wall portion 212 constituting a side wall. The side wall portion 212 is a flat wall surface (mounting surface 221 ) on the front side, and two side walls from the front side to the rear side, and these two side parts are connected on the rear side to form a grip portion. The side wall portion 212 is formed to extend from the front side to the rear side along the periphery of the second mounting member 202, and the height seen from the mounting edge portion 211 decreases from the front side to the rear side (refer to the side view of FIG. 6B ( Symbol 200B)).

In this example, the first mounting member 201 and the second mounting member 202 are connected to each other by five screws. As shown in the front view (symbol 200D) of FIG. 6B , three screw holes 231 are formed on the mounting surface 221 , and the aforementioned screw holes 231 are used for screwing and fixing to the mounting portion formed on the inner wall of the J2 arm 22 .

FIG. 6C is a cross-sectional perspective view of the motor driving device 200 along the line A-A shown in FIG. 6B . As shown in FIG. 6C , the printed circuit board PT1 is held in a state in which its peripheral portion is sandwiched by the mounting edge portions 211 of the first mounting member 201 and the second mounting member 202 . Moreover, as shown in the cross section of the front part in FIG. Between the mounting edge portions 211 of 202 , the printed circuit board PT1 is firmly screwed and fixed between the first mounting member 201 and the mounting edge portion 211 in a state sandwiched between the upper and lower vibration absorbing materials 251 and 252 . Thereby, vibration from the robot 1 side is prevented from being transmitted to the printed circuit board PT1. Various elastic members (vibration-proof rubber, gel-like members, etc.) can be used for the vibration absorbing materials 251 and 252 . By performing vibration countermeasures in this way, the reliability of the motor drive device can be improved.

As shown in FIG. 7A , the motor drive device 300 is constituted by a printed circuit board PT2 on which drive circuits 11 d - 13 d are mounted, and mounting parts 310 . In the following, for convenience of description, the side where the mounting surface 321 is located (the lower left side in the figure) may be referred to as the front side, and the opposite side may be referred to as the rear side. The mounting part 310 is constituted by the first mounting member 301 and the second mounting member 302 . The printed circuit board PT2 is sandwiched and held by the first mounting member 301 and the second mounting member 302 . The first attachment member 301 has a flat and substantially elliptical shape. The second mounting member 302 has a mounting edge portion 311 screwed and fixed to the first mounting member 301 , and a side wall portion 312 constituting a side wall. The side wall portion 312 constitutes a flat wall surface (mounting surface 321 ) on the front side, and constitutes both side walls of the second mounting member 302 from the front side toward the rear side, and these side walls are connected at the rear side. The side wall portion 312 is formed to extend toward the rear side along the periphery of the second mounting member 302, and the height seen from the mounting edge portion 311 decreases from the front side toward the rear side (refer to the side view (symbol 300B) of FIG. 7B ). ).

In this example, the first mounting member 301 and the second mounting member 302 are connected to each other by seven screws. As shown in the front view (symbol 300D) of FIG. 7B , three screw holes 331 are formed on the mounting surface 321 , and the aforementioned screw holes 331 are used for screwing and fixing to the mounting portion formed on the inner wall of the J2 arm 22 .

FIG. 7C is a cross-sectional perspective view of the motor driving device 300 along the line B-B shown in FIG. 7B . As shown in FIG. 7C , the printed circuit board PT2 is held in such a manner that its peripheral portion is sandwiched by the mounting edge portions 311 of the first mounting member 301 and the second mounting member 302 . Also, as shown in the cross section of the front part in FIG. 7C , vibration absorbing materials 351, 352 are respectively interposed between the peripheral portion of the printed circuit board PT2 and the first mounting member 301, and between the peripheral portion of the printed circuit board PT2 and the second mounting member. Between the mounting edge 311 of 302 , the printed circuit board PT2 is firmly fixed between the first mounting member 301 and the mounting edge 311 by screws 364 in a state sandwiched between the upper and lower vibration absorbing materials 351 and 352 . Thereby, vibration from the robot side is prevented from being transmitted to the printed circuit board PT2. As the vibration absorbing materials 351 and 352, the same vibration absorbing materials as the vibration absorbing materials 251 and 252 can be used.

As shown in FIG. 8, on the inner wall surface 22a of the J2 arm 22, a first protruding portion 411 and a second protruding portion 412 that are triangular in cross section are formed, and the aforementioned first protruding portion 411 and the second protruding portion 412 are used for mounting. The motor drive units 200 and 300 are formed to protrude toward the inner space side. The inner wall surface 22a is formed of, for example, metal. Alternatively, as shown in the figure, the motor drive device 200 may be mounted on the first protrusion 411 and the motor drive device 300 may be mounted on the second protrusion 412 . Screw holes are formed on the lower inclined surface 411 a of the first protrusion 411 at positions aligned with the three screw holes 231 formed on the mounting surface 221 of the motor driver 200 . In addition, screw holes are formed on the lower inclined surface 412 a of the second protrusion 412 at positions aligned with the three screw holes 331 formed on the mounting surface 321 in front of the motor driver 300 . The opening 22c formed in the J2 arm 22 by separating the cover 32 is located on the side of the inner wall surface 22a opposite to the side where the first protrusion 411 and the second protrusion 412 are located.

In the above configuration, the front mounting surface 221 of the motor driver 200 is pressed against the lower inclined surface 411a of the first protrusion 411, and the screw 260 and a tool (not shown) are inserted into the J2 arm 22 from the side of the opening 22c. In the inner space, the motor driver 200 is screwed and fixed to the first protrusion 411 . Furthermore, the inclination angle of the front end surface 210a of the mounting part 210 of the motor drive device 200 is determined so that it will be in close contact with the inner wall surface of the J2 arm 22 in a state where the mounting surface 221 is pressed against the lower inclined surface 411a. 22a. Thereby, the motor driving device 200 is firmly fixed in the inner space of the J2 arm 22 as shown in the figure.

Also, in the above configuration, the front mounting surface 321 of the motor driver 300 is pressed against the lower inclined surface 412a of the second protrusion 412, and the screw 360 and a tool (not shown) are inserted into the J2 arm from the side of the opening 22c. 22, the motor driver 300 is screwed and fixed to the second protrusion 412. Furthermore, the inclination angle of the front end surface 310a of the mounting part 310 of the motor drive device 300 is determined so that it will be in close contact with the inner wall surface of the J2 arm 22 in a state where the mounting surface 321 is pressed against the lower inclined surface 412a. 22a. Thereby, the motor driving device 300 is firmly fixed in the inner space of the J2 arm 22 as shown in the figure.

In this way, each motor driver 200, 300 can be directly moved along the direction entering from the opening 22c of the J2 arm 22, and can be fixed against the inner wall surface 22a. Therefore, the motor driving device 200 , 300 can be easily fixed in the space inside the J2 arm 22 .

In FIG. 9 , a state in which the motor drive devices 200 and 300 are attached to the internal space of the J2 arm 22 as described above is shown as a perspective view in which a part of the J2 arm 22 is cut away. In FIG. 9 , the state in which the cover body 32 has been separated is shown, and it can be understood that the internal space of the J2 arm 22 can be entered and exited in this state.

Since the circuit components on the printed circuit board may be heating elements, the motor driving device 200 or 300 may also have a structure for heat dissipation. Here, an example in which a configuration for heat dissipation is added to the motor drive device 300 will be described with reference to FIG. 10 . FIG. 10 is a view showing the vicinity of the front end (near the front end in FIG. 7C ) of the sectional portion of the sectional perspective view shown in FIG. 7C . Here, an example of a configuration is shown in which the heat generated in the printed circuit board PT2 is dissipated to the side of the mounting part 310 through the heat transfer part 370, thereby improving the heat dissipation characteristic. The mounting part 310 is formed of metal.

In FIG. 10 , the heat transfer component 370 is in charge of the function of connecting the printed circuit board PT2 and the first mounting member 301 , thereby conducting the heat generated on the printed circuit board PT2 to the first mounting member 301 . The end portion of the heat transfer component 370 on the printed circuit board PT2 side may be arranged so as to be in close contact with the heat generating component (power semiconductor device). In addition, various members, such as a thin metal plate and a film-form heat-transfer material, can be used for the heat-transfer member 370. By arranging heat transfer parts with particularly soft materials in this way, the rated current of the motor drive can be increased without hindering the above-mentioned vibration countermeasures.

In the above-mentioned embodiment, although the structure in which each of the motor drive devices 200 and 300 mounts one printed circuit board is shown, each motor drive device may be configured to mount a plurality of printed circuit boards. Here, an example of a configuration in which two printed circuit boards are mounted on the basis of the configuration of the motor drive device 300 will be described with reference to FIG. 11 . Furthermore, FIG. 11 is a diagram showing a portion corresponding to the vicinity of the front end (near the front end in FIG. 7C ) of the cross-sectional perspective view of the motor drive device 300 shown in FIG. 7C .

In this example, the holding member 381 is interposed between the first mounting member 301 and the mounting edge portion 311 . The holding member 381 can be configured as a flat member having substantially the same shape as the first attachment member 301 . Thereby, in the groove-shaped space 391 formed between the inner peripheral portion of the first mounting member 301 and the inner peripheral portion of the holding member 381, the printed circuit board PT52 can be held by sandwiching the vibration absorbing materials 353 and 354. The printed circuit board PT51 can be held by sandwiching the vibration absorbing materials 351 and 352 in the groove-shaped space 392 formed between the inner peripheral edge portion of the mounting edge portion 311 and the inner peripheral edge portion of the holding member 381 . The first mounting member 301 , the holding member 381 and the mounting edge 311 can be screwed together and fixed by screws 365 . Thereby, the structure which can mount two printed board|substrates PT51 and PT52 in a motor drive apparatus is attained.

In each embodiment of the robot 1 shown in FIG. 4 and FIG. 5 , the following configuration is adopted: in the J2 arm 22, three-axis actuators 11 to 13 are mounted on one printed board P1 (motor drive device 200 ). The control circuits 11c to 13c, and drive circuits 11d to 13d for the three-axis actuators 11 to 13 are mounted on one printed circuit board PT2 (motor drive device 300). Similarly, for the motor drive device mounted on the J3 arm 23, the control circuits 14c-16c of the three-axis actuators 14-16 are mounted on one printed circuit board PT11, and the three-axis actuator 14 The driving circuits 14d to 16d of to 16 are mounted on one circuit board PT12.

In the case of such a configuration, the printed board PT1 on which the control circuits 11c-13c are mounted and the printed board PT11 on which the control circuits 14c-16c are mounted may have the same design including electrical characteristics of components. Also, according to the above configuration, the motor control circuit (circuit board) for driving and controlling the actuators for three axes can be made into two pieces. This configuration is useful for saving the substrate area of the motor drive device. In addition, the configuration of disposing the motor driving device in the J2 arm 22 or the J3 arm 23 can dispose the motor driving device in a place far away from the actuator, and also help to reduce the heat conduction from the actuator, so that the motor drives The rated current of the device is increased.

The above-mentioned embodiment uses two printed circuit boards for each of the J2 arm 22 and J3 arm 23 to realize the driving circuit for three axes. For example, (1) The number of printed circuit boards arranged on the J2 arm 22 or the J3 arm may be one. In this case, a configuration is employed in which control circuits and drive circuits for three axes are mounted on one printed circuit board. Alternatively, (2) the number of printed circuit boards mounted on the J2 arm 22 or the J3 arm may be three. In this case, the control circuit and drive circuit for one axis are mounted on one printed circuit board, and three printed circuit boards for three axes are arranged in the J2 arm 22 or J3 arm. In this way, the structure of this embodiment is to arrange the printed board obliquely with respect to the direction of the central axis in the arm, thereby increasing the area of the printed board. The types of circuits, etc., to enhance the degree of freedom of design.

As described above, according to the present embodiment, it is possible to secure a large area of the substrate on which the circuits for driving the motors of the joint axes of the articulated robot are mounted.

Although the present invention has been described above using typical embodiments, it should be understood by those skilled in the art that changes and various other changes, omissions, etc. can be made to the above-mentioned embodiments without departing from the scope of the present invention. Append.

The structure of the motor drive devices 200 and 300 of the above-mentioned embodiment is an example, and as the structure of the motor drive device, an extension of the housing of the robot between the actuator (motor) of the robot 1 and the actuator (motor) can be used. In the part, various configurations in which the printed circuit board can be arranged obliquely with respect to the direction of the central axis of the extension part are possible.

The robot control device 50 may also be configured as a general computer including a CPU, ROM, RAM, memory device, operation unit, display unit, I/O interface, network interface, and the like. The teaching operation panel 60 may also be configured as a general computer having a CPU, ROM, RAM, memory device, operation unit, display unit, I/O interface, network interface, and the like.

1: Robot 10: base 11: Abutment 11~16: Actuator 11c~16c: control circuit 11d~16d: drive circuit 11e~16e: Encoder 11m~16m: motor 21: J1 arm 21~34: Circuit board 22: J2 arm 22a: Inner wall surface 22c: opening 23: J3 arm 24: J4 arm 25: J5 arm 25: Drive circuit substrate 26: J6 arm 26: The first revolving arm 31~34: cover body 32: Servo motor for the first winding 34,35: Control device 50:Robot control device 51:Motion control department 60: Teaching operation panel 111, 113, 114: Connectors 112: PWM switching signal generation unit 121, 126, 127: Connectors 122: Power supply department 123: smoothing capacitor 124: Inverter Department 125: Power signal 141~146: Wiring 150: Robot body 200,300: motor drive 200A~200D, 300A~300D: symbol 201,301: the first installation member 202,302: the second installation member 210,310: Mounting parts 210a, 310a: end face 211,311: Mounting edge 212,312: side wall 221,321: Mounting surface 231,331: screw holes 251, 252, 351, 352, 353, 354: vibration absorbing materials 260, 360, 364, 365: Screws 370:Heat transfer parts 391,392: space 411: 1st protrusion 411a, 412a: lower inclined surface 412: 2nd protrusion C: central axis J1~J6: axis, arrow J1, J4, J6: Joints M1: 1st motor PT1, PT2, PT11, PT51, PT52: printed substrate PT12: Printed substrate (circuit substrate) R1: Resolver S1~S6: Sensor part α: angle

FIG. 1 is a perspective view showing the external configuration of a robot according to this embodiment. FIG. 2 is a diagram showing a configuration example of a control system for controlling a robot. 3 is a diagram showing an example of a circuit configuration of a motor drive device including a control circuit and a drive circuit. Fig. 4 is a diagram showing a first embodiment of the structure of the robot. Fig. 5 is a diagram showing a second embodiment of the configuration of the robot. 6A is a perspective view of a motor drive device having a printed circuit board on which a control circuit is mounted. FIG. 6B is a diagram including a top view, a side view, a bottom view, and a front view of the motor drive device of FIG. 6A . FIG. 6C is a sectional perspective view of the motor driving device along the line A-A shown in FIG. 6B . 7A is a perspective view of a motor drive device having a printed circuit board on which a control circuit is mounted. FIG. 7B is a diagram including a top view, a side view, a bottom view, and a front view of the motor drive device of FIG. 7A . FIG. 7C is a sectional perspective view of the motor driving device along the line B-B shown in FIG. 7B . FIG. 8 is a cross-sectional view showing a state in which the motor drive unit is fixed to the internal space of the J2 arm. Fig. 9 is a perspective view of a state in which the motor drive device is fixed to the inner space of the J2 arm. FIG. 10 is a diagram showing a configuration example in which heat generated on a printed circuit board is dissipated to a mounting component side through a heat transfer component in a motor drive device. FIG. 11 is a diagram showing a configuration example in which two printed circuit boards are mounted on the motor drive device.

1: Robot

10: base

11~16: Actuator

21: J1 arm

22: J2 arm

23: J3 arm

24: J4 arm

25: J5 arm

26: J6 arm

31~34: cover body

PT1, PT2, PT11: printed substrate

PT12: Printed substrate (circuit substrate)

Claims (12)

A multi-joint robot, which has a plurality of joint axes, the aforementioned multi-joint robot has: a plurality of motors, which are used to respectively drive the aforementioned plurality of joint shafts; and At least one motor driving device, which is arranged in the inner space of the extension part of the shell of the aforementioned articulated robot between the first motor and the second motor, and is used to drive at least one motor among the aforementioned plurality of motors, the aforementioned first motor driving one of the plurality of joint axes, the second motor drives the next joint axis of the first joint axis seen from the base of the multi-joint robot, The aforementioned at least one motor drive device has a printed circuit board, and the aforementioned printed circuit board is equipped with a circuit for driving the aforementioned at least one motor, The printed circuit board is disposed on the extending portion in a state of being inclined with respect to the extending direction such that an angle between the surface of the printed circuit board and the extending direction of the extending portion is greater than 0° and less than 90°. The articulated robot according to claim 1, wherein the at least one motor drive device has one or more printed boards and a mounting part for holding the printed board, and the mounting part is fixed to the inner wall of the extension part. The articulated robot according to claim 2, wherein the aforementioned mounting part has a mounting surface for mounting on the aforementioned inner wall surface, A protruding portion having an inclined surface inclined relative to the extending direction is formed on the inner wall surface, The aforementioned mounting part is fixed to the aforementioned inner wall surface in a state where the aforementioned mounting surface is pressed against the aforementioned inclined surface. The articulated robot according to claim 3, wherein the at least one motor drive device is disposed at a position close to one end of the extending portion in the extending direction, A cover body is formed on the extension portion, and the cover body can be separated by cutting a portion including the end portion and the side surface of the extension portion at a cut surface inclined with respect to the extension direction. The articulated robot according to claim 4, wherein the opening formed on the one side of the extension part in the state where the cover body has been separated from the extension part is located on the side of the inner wall surface opposite to the side where the protrusion is located to the side. The articulated robot according to any one of claims 2 to 5, wherein the mounting part has a first mounting member and a second mounting member held by sandwiching the peripheral portion of the printed circuit board, The printed circuit board is sandwiched between the first vibration absorbing material and the second vibration absorbing material, the first vibration absorbing material is interposed between the first mounting member and one surface of the printed circuit board, and the second vibration absorbing material is interposed. between the second mounting member and the other surface of the printed circuit board. The articulated robot according to any one of claims 2 to 6, which includes a heat transfer member that combines the printed circuit board and the mounting part. The articulated robot according to claim 1, wherein the at least one motor drive device has a first printed board and a second printed board as the printed board, and the first printed board is equipped with a control circuit for performing servo control of the at least one motor , the aforementioned second printed board mounts a drive circuit that outputs a power signal for driving the aforementioned at least one motor in response to a control signal from the aforementioned control circuit. The articulated robot according to claim 8, wherein the first printed circuit board is equipped with the control circuit for two or more motors of the plurality of motors. The articulated robot according to claim 8 or 9, wherein the second printed circuit board is equipped with the drive circuit for two or more motors of the plurality of motors. The articulated robot according to any one of claims 1 to 10, wherein the aforementioned at least one motor drive device is disposed in at least any of the following places in the housing constituting the aforementioned articulated robot: driving from the base of the aforementioned articulated robot Viewed from the side, it is the extension of the aforementioned housing between the motor for the second joint axis and the motor for driving the third joint axis; and the connection between the motor for driving the third joint axis and the motor for driving the fourth joint axis between the extensions of the aforementioned housing. The articulated robot according to any one of claims 1 to 10, wherein the aforementioned at least one motor drive device is disposed in at least any of the following places in the housing constituting the aforementioned articulated robot: driving from the base of the aforementioned articulated robot Viewed from the side, it is the extension of the aforementioned housing between the motor for the second joint axis and the motor for driving the third joint axis; and between the motor for driving the fourth joint axis and the motor for driving the fifth joint axis extension of the aforementioned housing.

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