WO1997045234A1 - Procede de refroidissement d'un moteur d'entrainement dans un robot industriel - Google Patents

Procede de refroidissement d'un moteur d'entrainement dans un robot industriel Download PDF

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Publication number
WO1997045234A1
WO1997045234A1 PCT/JP1997/001297 JP9701297W WO9745234A1 WO 1997045234 A1 WO1997045234 A1 WO 1997045234A1 JP 9701297 W JP9701297 W JP 9701297W WO 9745234 A1 WO9745234 A1 WO 9745234A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
drive motor
robot
industrial robot
cooling
Prior art date
Application number
PCT/JP1997/001297
Other languages
English (en)
Japanese (ja)
Inventor
Atsushi Ichibangase
Masahiro Ogawa
Masatsugu Takahashi
Satoshi Sueyoshi
Original Assignee
Kabushiki Kaisha Yaskawa Denki
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kabushiki Kaisha Yaskawa Denki filed Critical Kabushiki Kaisha Yaskawa Denki
Publication of WO1997045234A1 publication Critical patent/WO1997045234A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means

Definitions

  • the present invention relates to a method for cooling a drive motor in an industrial robot.
  • FIG. 3 is a cross-sectional view of the industrial robot showing the first related art. Unnecessary internal structures and the like are omitted in the description.
  • a motor base 11 and a cover 12 are attached to the robot body 10.
  • a fan 13 is attached to the cover 12.
  • Reference numeral 20 denotes a motor, which includes a mounting flange 201, a motor body 202, a brake unit 203, and an encoder unit 204.
  • the motor 20 is fixed to the motor base 11 by a mounting flange 201. That is, the mounting flange 201 is a mounting portion of the motor 20.
  • Reference numeral 30 denotes a speed reducer, which is mounted on the opposite side of the motor base 11 from the motor and whose input shaft (not shown) is connected to an output shaft (not shown) of the motor 20. I have.
  • Reference numeral 40 denotes a movable body such as an arm, a turning table, or a traveling table, which is attached to an output shaft (not shown) of the speed reducer 30.
  • motor cooling is performed as follows. That is, when a load is applied to the motor 20, the motor 20 generates heat due to a loss inside the motor 20. A part of the generated heat flows through the mounting flange 201 and the motor base 11 to the robot body 10, but it is not sufficient to exhaust the heat by itself. The motor 20 is being cooled by blowing external air.
  • FIG. 4 is a cross-sectional view of an industrial robot showing a second conventional technique.
  • the basic structure is the same as that of the first prior art (the description is redundant and will be omitted). The difference is that the motor is directly exposed to the outside air without the fan.
  • motor cooling is performed as follows. That is, when a load is applied to the motor 20, the motor 20 generates heat due to a loss inside the motor 20. Some of the generated heat flows through the mounting flange 201 and the motor base 11 to the robot main body 10, and the rest is transmitted from the surface of the motor 20 to the outside air and discharged.
  • an object of the present invention is to provide a simple method for effectively cooling a drive motor while maintaining the dustproof and dripproof properties of an industrial robot.
  • the present invention provides an industrial robot having a movable body, wherein a main body of a motor for driving the arm, a brake unit, or an encoder unit is brought into contact with a part of the robot. .
  • the motor and the robot should not be in direct contact with each other, but rather a solid or liquid with good thermal conductivity, such as gold grease.
  • the heat transfer path between the motor and the robot body is increased, the heat transfer area is increased, and the heat generated by the motor is efficiently transmitted to the robot body. Since the robot body has a large surface area, the transmitted heat can be quickly discharged to the outside air.
  • FIG. 1 is a cross-sectional view of an industrial mouth bot showing a first embodiment of the present invention
  • FIG. FIG. 4 is a side sectional view of an industrial mouth bot showing a second embodiment of the present invention
  • FIG. 3 is a side sectional view of an industrial mouth bot showing an example of the first prior art
  • FIG. FIG. 9 is a side sectional view of an industrial robot showing an example of a second conventional technique.
  • FIG. 1 is a cross-sectional view of an industrial robot showing a first embodiment. Unnecessary internal structures etc. are omitted in the explanation.
  • a motor base 11 and a force bar 12 are attached to the robot body 10.
  • An aluminum plate 14 is attached to the cover 12.
  • Reference numeral 20 denotes a motor, which comprises a mounting flange 201, a motor body 202, a brake unit 203, and an encoder unit 204.
  • the motor 20 is fixed to the motor base 11 by a mounting flange 201. That is, the mounting flange 201 is a mounting portion of the motor 20.
  • Reference numeral 30 denotes a speed reducer, which is mounted on the opposite side of the motor base 11 from the motor and whose input shaft (not shown) is connected to an output shaft (not shown) of the motor 20. I have.
  • Reference numeral 40 denotes a movable body such as an arm, a swivel base, or a traveling base, which is attached to an output shaft (not shown) of the speed reducer 30.
  • the encoder section 204 and the plate 14 face each other with a small gap therebetween.
  • the gap is filled with Dali 15 having good thermal conductivity.
  • the grease 15 has a high viscosity and does not drip from the gap. '' If the grease 15 has low viscosity, provide a seal between the encoder part 204 and the plate 14 or enclose the grease 15 in a flexible bag-like container with good heat conductivity. Then, it may be sandwiched in the aforementioned gap. In this way, a heat conductor, that is, the plate 14 and the grease 15 are interposed between a part of the motor 20 and the robot structure.
  • the robot structure refers to the robot body 10, the motor base 11, the cover 12, and the like, and forms the outer shape of the robot and supports parts such as a motor and a speed reducer. And a structural part that resists external forces.
  • the motor 20 When a load is applied to the motor 20, the motor 20 generates heat due to the loss of a part of the motor 20.
  • the generated heat flows through the mounting flange 201 and the motor base 11 to the robot body 10 and from the encoder 204 to the grease 15, the plate 14, and the cover 12. Efficiently flows through the two paths of the robot body 10. That is, the plate 14 and the grease 15 function as solid and liquid heat conductors, respectively.
  • the robot main body 10 Since the robot main body 10 has a large heat transfer surface with respect to the external air, the heat transmitted from the motor 20 is quickly discharged to the external air. In this way, the heat generated in the motor 20 is efficiently discharged, and the temperature rise is sufficiently suppressed. In this process, it is not necessary to expose the motor 20 to outside air.
  • FIG. 2 is a side sectional view of an industrial robot showing a second embodiment of the present invention.
  • the basic structure is the same as that of the first embodiment, except that the cover is missing and the motor is directly exposed to the external air.
  • the different parts will be described.
  • An aluminum plate 14 is attached to the robot body 10.
  • the motor body 202, the brake part 203, and the plate 14 face each other with a small gap therebetween.
  • the gap is filled with grease 15 having good thermal conductivity.
  • the motor 20 When a load is applied to the motor 20, the motor 20 generates heat due to the loss inside the motor 20. Part of the generated heat is transmitted from the surface of the motor 20 to the outside air, and the rest of the heat is transferred from the mounting flange 201 to the motor base 111, the motor body 202 and the brake unit 200. It flows efficiently from 3 through the grease 15 and the plate 14 to the robot body 10 in two paths. That is, the plate 14 and the grease 15 function as solid and liquid heat conductors, respectively.
  • the heat that has flowed into the robot body 10 is transmitted to the outside air from the surface of the robot body 10 and is quickly discharged. As described above, since the heat generated in the motor 20 is efficiently discharged, the temperature rise of the motor 20 can be sufficiently suppressed.
  • the plate 14 is omitted, and the grease 15 is filled between the motor 20 and the cover 12 or between the motor 20 and the robot body 10. May be. Further, by omitting the grease 1 5, the plate 1 4 and the motor 2 0 straight They may be in close contact. Furthermore, both the plate 14 and the grease 15 may be omitted, and the motor 20 and the cover 12 or the motor 20 and the robot body 10 may be directly contacted. In short, the drive motor and the robot structure should be brought into direct or indirect surface contact so that sufficient heat conduction can be achieved.
  • the present invention has the following effects.
  • the drive motor does not need to be exposed to external air for cooling, so that the drive motor can be sealed against external air. Therefore, the dustproof and drip-proof properties of the industrial robot can be maintained.
  • This invention is useful for the cooling structure of the drive motor of an industrial robot.

Abstract

Un robot industriel comprend un corps mobile (40) et un moteur (20) servant à entraîner ledit corps mobile (40) et monté sur la structure du robot. La chaleur produite par le moteur d'entraînement (20) est conduite à la structure du robot par une autre voie, en plus de la voie passant par un support de montage du moteur d'entraînement (20), ce qui refroidit le moteur (20).
PCT/JP1997/001297 1996-05-31 1997-04-14 Procede de refroidissement d'un moteur d'entrainement dans un robot industriel WO1997045234A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP8/160609 1996-05-31
JP16060996A JPH09323286A (ja) 1996-05-31 1996-05-31 産業用ロボットにおける駆動用モータの冷却方法

Publications (1)

Publication Number Publication Date
WO1997045234A1 true WO1997045234A1 (fr) 1997-12-04

Family

ID=15718646

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1997/001297 WO1997045234A1 (fr) 1996-05-31 1997-04-14 Procede de refroidissement d'un moteur d'entrainement dans un robot industriel

Country Status (2)

Country Link
JP (1) JPH09323286A (fr)
WO (1) WO1997045234A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103659837A (zh) * 2012-08-31 2014-03-26 发那科株式会社 具有冷却马达的冷却结构体的多关节机器人
US20170368695A1 (en) * 2016-06-23 2017-12-28 Fanuc Corporation Robot

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005014099A (ja) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp 産業用ロボットの手首機構
JP2005014101A (ja) * 2003-06-23 2005-01-20 Nachi Fujikoshi Corp 産業用ロボットの手首機構
JP4954804B2 (ja) 2007-06-20 2012-06-20 本田技研工業株式会社 関節駆動型脚リンク機構及び歩行補助装置
JP5385000B2 (ja) * 2008-05-27 2014-01-08 株式会社ミツバ 電動回転継手
JP4985699B2 (ja) * 2009-04-23 2012-07-25 株式会社Ｊｖｃケンウッド ロボット
JP6326945B2 (ja) 2014-05-07 2018-05-23 セイコーエプソン株式会社 ロボット
JP2017127914A (ja) * 2016-01-19 2017-07-27 セイコーエプソン株式会社 ロボット及びロボットシステム
JP2021146481A (ja) * 2020-03-23 2021-09-27 川崎重工業株式会社 ロボット及び冷却装置のロボットへの取り付け方法
JP2021146479A (ja) * 2020-03-23 2021-09-27 川崎重工業株式会社 冷却媒体流路体、冷却装置、ロボット、及び冷却装置のロボットへの取り付け方法
JP2021146480A (ja) * 2020-03-23 2021-09-27 川崎重工業株式会社 冷却装置、ロボット、及び冷却装置のロボットへの取り付け方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6225193U (fr) * 1985-07-26 1987-02-16
JPH01274993A (ja) * 1988-04-25 1989-11-02 Mitsubishi Electric Corp 放熱形関節

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6225193U (fr) * 1985-07-26 1987-02-16
JPH01274993A (ja) * 1988-04-25 1989-11-02 Mitsubishi Electric Corp 放熱形関節

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103659837A (zh) * 2012-08-31 2014-03-26 发那科株式会社 具有冷却马达的冷却结构体的多关节机器人
CN103659837B (zh) * 2012-08-31 2016-03-02 发那科株式会社 具有冷却马达的冷却结构体的多关节机器人
US20170368695A1 (en) * 2016-06-23 2017-12-28 Fanuc Corporation Robot
US10710248B2 (en) * 2016-06-23 2020-07-14 Fanuc Corporation Robot

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Publication number Publication date
JPH09323286A (ja) 1997-12-16

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