WO2014125691A1 - Industrial robot - Google Patents

Industrial robot Download PDF

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Publication number
WO2014125691A1
WO2014125691A1 PCT/JP2013/080986 JP2013080986W WO2014125691A1 WO 2014125691 A1 WO2014125691 A1 WO 2014125691A1 JP 2013080986 W JP2013080986 W JP 2013080986W WO 2014125691 A1 WO2014125691 A1 WO 2014125691A1
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WO
WIPO (PCT)
Prior art keywords
motor drive
drive unit
motor
arm
arm portion
Prior art date
Application number
PCT/JP2013/080986
Other languages
French (fr)
Japanese (ja)
Inventor
矢澤　隆之
吉澤　豊
陽介 高瀬
Original Assignee
日本電産サンキョー株式会社
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 日本電産サンキョー株式会社 filed Critical 日本電産サンキョー株式会社
Priority to CN201380072648.3A priority Critical patent/CN104995003B/en
Priority to TW102146431A priority patent/TWI558523B/en
Publication of WO2014125691A1 publication Critical patent/WO2014125691A1/en
Priority to PH12015501727A priority patent/PH12015501727A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
    • 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
    • B25J19/0066—Means or methods for maintaining or repairing manipulators

Definitions

  • the present invention relates to an industrial robot installed and used in an assembly line for parts.
  • Patent Document 1 an industrial robot that performs operations such as parts conveyance, assembly, and screw tightening using a predetermined hand tool is known (for example, see Patent Document 1).
  • the industrial robot described in Patent Document 1 includes a main body, a first turning arm, a second turning arm, and a hand tool.
  • the base end side of the first turning arm is rotatably connected to the main body main part.
  • the proximal end side of the second turning arm is rotatably connected to the distal end side of the first turning arm.
  • a rotating shaft is rotatably attached to the distal end side of the second turning arm, and the hand tool is fixed to the lower end of the rotating shaft.
  • the industrial robot described in Patent Document 1 includes a vertical drive servomotor for moving the first swing arm up and down, and a first swing servo for rotating the first swing arm with respect to the main body main part.
  • the second swivel arm is composed of a split arm that forms the base half of the second swivel arm and a split arm that forms the tip half of the second swivel arm.
  • the split arm that forms the distal half is detachable from the split arm that forms the proximal half.
  • an object of the present invention is to perform repair in a short time and at a low cost when a motor for operating an industrial robot or a speed reducing mechanism for decelerating and transmitting the power of the motor fails. It is to provide a possible industrial robot.
  • an industrial robot of the present invention is an industrial robot having a main body and an arm whose base end is rotatably connected to the main body, and the motor and the power of the motor are decelerated. And a motor drive unit for operating the industrial robot.
  • the motor drive unit is configured separately from the arm and is detachably attached to the arm.
  • the motor drive unit that operates the industrial robot having a motor and a speed reducing mechanism that decelerates and transmits the power of the motor is configured separately from the arm, and can be attached to and detached from the arm. It is attached. Therefore, in the present invention, when the motor or the speed reduction mechanism breaks down, the industrial robot can be repaired by replacing the motor drive unit that can be attached to and detached from the arm. Therefore, according to the present invention, it is possible to repair the industrial robot in a short time when the motor or the speed reduction mechanism breaks down. Moreover, in this invention, when a motor or a reduction gear breaks down, it is not necessary to replace a part of arm. Therefore, according to the present invention, it is possible to repair an industrial robot at a low cost when a motor or a speed reduction mechanism breaks down.
  • the industrial robot includes, for example, a first arm portion whose base end side is rotatably connected to the main body portion and a base end side rotatably connected to the distal end side of the first arm portion.
  • a first motor drive unit for rotating the first arm part with respect to the main body part, and a second arm part with respect to the first arm part.
  • a fourth motor drive unit for raising and lowering the end effector.
  • the first motor drive unit is detachably attached to the first arm portion and the main body portion
  • the second motor drive unit is detachably attached to the first arm portion and the second arm portion.
  • the third motor drive unit and the fourth motor drive unit are detachably attached to the second arm portion.
  • the first arm portion is formed with a first recess for positioning the first motor drive unit and a second recess for positioning the second motor drive unit.
  • an arrangement hole in which a part of the second motor drive unit is arranged is formed, and a step portion for positioning the second motor drive unit is formed in the arrangement hole.
  • the third motor drive unit is, for example, as a speed reduction mechanism, an input unit to which the power of the motor is input, and the power input from the input unit arranged coaxially with the input unit is output after being decelerated.
  • a reduction gear having an output part is provided, and a first pulley attached to the output part is provided.
  • the fourth motor drive unit includes a ball screw spline to which the end effector is attached, a second pulley attached to the ball screw nut of the ball screw spline, a third pulley attached to the output shaft of the motor, A first belt spanned between two pulleys and a third pulley, and a fourth pulley attached to a spline nut of a ball screw spline.
  • the second belt is spanned between the first pulley and the fourth pulley.
  • the industrial robot includes a second motor driving unit attached to the second arm part, a cover member covering the third motor driving unit and the fourth motor driving unit, a wiring box fixed to the main body part, and a cover. It is preferable to include a flexible tube having one end detachably attached to the member and the other end detachably attached to the wiring box, and wiring arranged in the flexible tube. If comprised in this way, when the wiring arrange
  • the industrial robot when a motor for operating an industrial robot or a speed reduction mechanism for decelerating and transmitting the power of the motor fails, the industrial robot can be manufactured in a short time and at a low cost. It becomes possible to perform repairs.
  • FIG. 1A is a plan view
  • FIG. 1A is a plan view
  • FIG. 1A is a plan view
  • FIG. 1A is a plan view
  • FIG. 1A is a plan view
  • FIG. 1A is a plan view
  • FIG. 1A is a plan view
  • FIG. 1A is a plan view
  • FIG. 1A is a plan view
  • FIG. 1A is a plan view
  • FIG. 1A is a plan view
  • FIG. It is a figure for demonstrating the 1st motor drive unit shown in FIG.
  • 2nd motor drive unit shown in FIG.
  • 3rd motor drive unit shown in FIG.
  • FIG. 1 is a side view for explaining the configuration of an industrial robot 1 according to an embodiment of the present invention.
  • FIG. 2 is a plan view of the industrial robot 1 shown in FIG. 3A and 3B are views of the first arm portion 11 shown in FIG. 1, wherein FIG. 3A is a plan view and FIG. 3B is a bottom view.
  • 4A and 4B are views of the second arm portion 12 shown in FIG. 1, in which FIG. 4A is a plan view and FIG. 4B is a cross-sectional view taken along the line EE of FIG.
  • the Z direction in FIG. The Z1 direction side is the “upper” side
  • the Z2 direction side is the “lower” side.
  • the industrial robot 1 of this embodiment (hereinafter referred to as “robot 1”) is a horizontal articulated robot (SCARA robot) that is installed and used in a part manufacturing line, an assembly line, or the like.
  • the robot 1 includes a main body 2, an arm 3 whose base end is rotatably connected to the main body 2, and four motor drive units 4 to 7 for operating the robot 1.
  • the arm 3 is composed of two arm parts, a first arm part 11 and a second arm part 12 disposed on the upper side of the first arm part 11.
  • a proximal end side of the first arm portion 11 is rotatably connected to the main body portion 2.
  • the proximal end side of the second arm portion 12 is rotatably connected to the distal end side of the first arm portion 11.
  • the motor drive unit 4 is provided to rotate the first arm portion 11 with respect to the main body portion 2.
  • the motor drive unit 4 constitutes a joint portion 13 that connects the main body portion 2 and the first arm portion 11.
  • the motor drive unit 5 is provided to rotate the second arm portion 12 with respect to the first arm portion 11.
  • the motor drive unit 5 constitutes a joint portion 14 that connects the first arm portion 11 and the second arm portion 12.
  • the motor drive unit 6 is provided to rotate an end effector (not shown) disposed on the distal end side of the second arm portion 12 with respect to the second arm portion 12.
  • the motor drive unit 7 is provided to raise and lower the end effector relative to the second arm portion 12. Specific configurations of the motor drive units 4 to 7 will be described later.
  • the main body 2 is formed in a substantially cylindrical shape.
  • the lower end of the main body 2 is fixed to a frame 16 that forms a part of a production line or an assembly line, for example.
  • a wiring box 18 formed in a substantially rectangular parallelepiped shape is fixed to the side surface of the main body 2. In the wiring box 18, an emergency power source, a predetermined board, and the like are accommodated.
  • the first arm portion 11 is formed in a block shape that is flat in the vertical direction when viewed from the vertical direction and has a substantially rectangular shape.
  • a recess 11 a as a first recess for positioning the motor drive unit 4 is formed on the lower surface of the base end side of the first arm portion 11.
  • the recess 11a is formed in a circular shape and is recessed upward.
  • a plurality of arrangement holes 11 b in which bolts 19 for fixing a part of the motor drive unit 4 are arranged are formed on the base end side of the first arm portion 11.
  • the arrangement hole 11b is formed so as to penetrate the first arm portion 11 in the vertical direction.
  • the plurality of arrangement holes 11b are arranged in an annular shape surrounding the recess 11a.
  • a step portion 11c is formed on which a boundary portion between the head of the bolt 19 and the screw portion abuts.
  • a concave portion 11d as a second concave portion for positioning the motor driving unit 5 is formed on the top surface of the first arm portion 11 on the distal end side.
  • the recess 11d is formed in a circular shape and is recessed downward.
  • a plurality of arrangement holes 11 e in which bolts 20 for fixing a part of the motor drive unit 5 are arranged are formed on the distal end side of the first arm portion 11.
  • the arrangement hole 11e is formed so as to penetrate the first arm portion 11 in the vertical direction.
  • the plurality of arrangement holes 11e are arranged in an annular shape surrounding the recess 11d.
  • a step portion 11f is formed on which the boundary portion between the head of the bolt 20 and the screw portion abuts.
  • the second arm portion 12 is formed in a block shape that is flat in the vertical direction so that the shape when viewed from the vertical direction is a substantially oval shape.
  • An arrangement hole 12 a in which the lower end portion of the motor drive unit 5 is arranged is formed on the base end side of the second arm portion 12.
  • the arrangement hole 12a is formed so as to penetrate the second arm portion 12 in the vertical direction.
  • the arrangement hole 12a is formed in a round hole shape.
  • An annular step 12b for positioning the motor drive unit 5 is formed on the upper end side of the arrangement hole 12a.
  • An arrangement hole 12d is formed, and an arrangement hole 12e in which a pulley 61, which will be described later, constituting the motor drive unit 7 is arranged is formed.
  • the arrangement holes 12c to 12e are formed in this order from the proximal end side to the distal end side of the second arm portion 12.
  • the arrangement holes 12c to 12e are formed so as to penetrate the second arm portion 12 in the vertical direction.
  • the arrangement holes 12c and 12d are formed in a substantially square hole shape, and the arrangement hole 12e is formed in a round hole shape. As shown in FIG. 4B, the upper end sides of the arrangement holes 12c to 12e are separated from each other, but the lower end sides of the arrangement holes 12c to 12e are connected to each other. A cover member 21 that covers the placement holes 12c to 12e is fixed to the lower surface of the second arm portion 12.
  • motor drive units 5 to 7 are attached to the upper surface side of the second arm portion 12, and a part of the motor drive units 5 to 7 protrudes from the upper surface of the second arm portion 12. Yes.
  • a cover member 22 that covers the motor drive units 5 to 7 is attached to the upper surface side of the second arm portion 12.
  • One end of a flexible tube 23 formed of a flexible resin is detachably attached to the cover member 22.
  • one end of the flexible tube 23 is detachably attached to the cover member 22 above the motor drive unit 5.
  • the other end of the flexible tube 23 is detachably attached to the wiring box 18.
  • wiring (not shown) connected to motors 30, 35, 45, etc., which will be described later, constituting the motor drive units 5 to 7 is disposed.
  • One end of the wiring is detachably connected to the motors 30, 35, 45, etc. via a connector, and the other end of the wiring is attached to and detached from a substrate or predetermined wiring arranged in the wiring box 18 via the connector. Connected as possible.
  • FIG. 5 is a diagram for explaining the motor drive unit 4 shown in FIG. 1.
  • FIG. 6 is a diagram for explaining the motor drive unit 5 shown in FIG. 1.
  • FIG. 7 is a view for explaining the motor drive unit 6 shown in FIG.
  • FIG. 8 is a diagram for explaining the motor drive unit 7 shown in FIG.
  • the motor drive unit 4 is configured separately from the main body 2 and the first arm 11 and is detachably attached to the main body 2 and the first arm 11.
  • the motor drive unit 4 includes a motor 25 for rotating the first arm unit 11 with respect to the main body unit 2 and a speed reducer 26 as a speed reduction mechanism that transmits the power of the motor 25 at a reduced speed.
  • the motor drive unit 4 includes a motor 25 and a speed reducer 26.
  • the motor 25 is arranged such that its output shaft protrudes upward, and the speed reducer 26 is arranged above the motor 25.
  • the reducer 26 includes an input unit 27 to which the power of the motor 25 is input, and an output unit 28 to output the power input from the input unit 27 after being decelerated.
  • the output shaft of the motor 25 is fixed to the input portion 27, and the proximal end side of the first arm portion 11 is fixed to the output portion 28 by a bolt 19.
  • the input unit 27 and the output unit 28 are arranged on the same axis.
  • the input part 27 and the output part 28 are rotatably supported by the case body 29 of the reduction gear 26 via a bearing.
  • the body of the motor 25 is fixed to the case body 29.
  • the case body 29 is being fixed to the upper end of the main-body part 2 formed in a substantially cylindrical shape.
  • a flange extending outward in the radial direction is formed in the case body 29, and this flange is fixed to the upper end of the main body 2.
  • the output portion 28 is formed with a disk-like convex portion 28 a that engages with the concave portion 11 a of the first arm portion 11 so as to protrude upward.
  • the motor drive unit 5 is configured separately from the first arm unit 11 and the second arm unit 12, and is detachably attached to the first arm unit 11 and the second arm unit 12.
  • the motor drive unit 5 includes a motor 30 for rotating the second arm portion 12 with respect to the first arm portion 11, and a speed reducer 31 as a speed reduction mechanism for decelerating and transmitting the power of the motor 30. ing.
  • the motor drive unit 5 includes a motor 30 and a speed reducer 31.
  • the motor 30 is arranged such that its output shaft protrudes downward, and the speed reducer 31 is arranged below the motor 30.
  • the most part of the speed reducer 31 is arranged in the arrangement hole 12 a of the second arm portion 12.
  • the speed reducer 31 includes an input unit 32 to which the power of the motor 30 is input, and an output unit 33 to which the power input from the input unit 32 is decelerated and output.
  • the output shaft of the motor 30 is fixed to the input portion 32, and the distal end side of the first arm portion 11 is fixed to the output portion 33 by the bolt 20.
  • the input unit 32 and the output unit 33 are arranged on the same axis.
  • the input part 32 and the output part 33 are rotatably supported by the case body 34 of the reduction gear 31 via a bearing.
  • the body of the motor 30 is fixed to the case body 34.
  • the case body 34 is fixed to the base end side of the second arm portion 12.
  • a flange extending radially outward is formed in the case body 34, and this flange is fixed to the step portion 12 b in a state where the flange is in contact with the step portion 12 b of the arrangement hole 12 a of the second arm portion 12.
  • the output portion 33 is formed with a disk-like convex portion 33 a that engages with the concave portion 11 d of the first arm portion 11 so as to protrude downward.
  • the motor drive unit 6 is configured separately from the second arm portion 12 and is detachably attached to the second arm portion 12.
  • the motor drive unit 6 includes a motor 35 for rotating an end effector (not shown) with respect to the second arm portion 12, and a speed reducer 36 as a speed reduction mechanism for reducing and transmitting the power of the motor 35. ing.
  • the motor 35 is disposed such that its output shaft protrudes downward, and the speed reducer 36 is disposed below the motor 35.
  • the speed reducer 36 includes an input unit 37 to which the power of the motor 35 is input, and an output unit (not shown) from which the power input from the input unit 37 is decelerated and output.
  • An output shaft of the motor 35 is fixed to the input unit 37, and a pulley 40 as a first pulley is fixed to the output unit.
  • the input unit 37 and the output unit are arranged on the same axis.
  • the input part 37 and the output part are rotatably supported by the case body 39 of the reduction gear 36 via a bearing.
  • the body of the motor 35 is fixed to the case body 39.
  • the case body 39 is attached to a plate 41 for fixing the case body 39 to the upper surface of the second arm portion 12, and the plate 41 is fixed to the upper surface of the second arm portion 12.
  • the pulley 40 is disposed below the case body 39.
  • the lower end side of the reduction gear 36 and the pulley 40 are arrange
  • the motor drive unit 6 of this embodiment includes a motor 35, a speed reducer 36, a pulley 40, and a plate 41.
  • the fixing position of the plate 41 with respect to the upper surface of the 2nd arm part 12 is adjustable.
  • the motor drive unit 7 is configured separately from the second arm unit 12 and is detachably attached to the second arm unit 12.
  • the motor drive unit 7 includes a ball screw spline 44 to which an end effector is attached, and a motor 45 for moving the end effector up and down with respect to the second arm portion 12.
  • the ball screw spline 44 includes a ball screw spline shaft 46 arranged with the vertical direction as an axial direction, a ball screw nut 47 for moving the ball screw spline shaft 46 in the vertical direction, and a ball screw spline shaft 46 centering on the axis of the ball screw spline shaft 46. And a spline nut 48 to be rotated.
  • the motor 45 is arranged so that its output shaft protrudes upward. Moreover, the lower end side of the motor 45 is arrange
  • a pulley 49 as a third pulley is fixed to the output shaft of the motor 45.
  • a pulley 50 as a second pulley is attached to the ball screw nut 47. The ball screw nut 47 and the pulley 50 are arranged coaxially.
  • a belt 51 as a first belt is bridged between the pulley 49 and the pulley 50.
  • a pulley 61 as a fourth pulley is attached to the spline nut 48. The spline nut 48 and the pulley 61 are arranged coaxially.
  • a belt 52 as a second belt is bridged between the pulley 40 and the pulley 61.
  • the ball screw nut 47 and the spline nut 48 are rotatably held by a holding member 53 formed in a substantially cylindrical shape.
  • the ball screw nut 47 is rotatably held on the upper end side of the holding member 53
  • the spline nut 48 is rotatably held on the lower end side of the holding member 53.
  • a plate 58 is fixed to the upper end of the holding member 53
  • a plate 59 is fixed to the upper surface of the plate 58.
  • the main body of the motor 45 is fixed to the plate 59.
  • the lower end of the holding member 53 is fixed to the upper surface of the second arm portion 12 and to the edge of the arrangement hole 12e.
  • a pulley 61 and the like are arranged in the arrangement hole 12e. In order to adjust the tension of the belt 51, the fixing position of the plate 59 with respect to the plate 58 can be adjusted.
  • An end effector is attached to the lower end of the ball screw spline shaft 46.
  • a bellows fixing member 55 to which the lower end of the bellows 54 is fixed is attached to the lower end side of the ball screw spline shaft 46 via a bearing.
  • the upper end of the bellows 54 is attached to the cover member 21.
  • a bellows fixing member 57 to which the upper end of the bellows 56 is fixed is attached to the upper end side of the ball screw spline shaft 46 via a bearing.
  • the lower end of the bellows 56 is attached to the cover member 22.
  • the motor drive unit 7 when the motor 45 rotates, the power of the motor 45 is transmitted to the ball screw nut 47 via the pulleys 49 and 50 and the belt 51, the ball screw nut 47 rotates, and the ball screw spline shaft 46 moves up and down. That is, the end effector attached to the lower end of the ball screw spline shaft 46 moves up and down. Further, when the ball screw spline shaft 46 moves up and down, the bellows 54 and 56 expand and contract.
  • the pulleys 49 and 50, the belt 51, the ball screw spline shaft 46, and the ball screw nut 47 constitute a reduction mechanism 60 that reduces and transmits the power of the motor 45.
  • the motor drive unit 7 of this embodiment includes a ball screw spline 44, a motor 45, pulleys 49, 50, 61, a belt 51, a holding member 53, bellows fixing members 55, 57, and plates 58, 59.
  • the motor drive unit 4 is a first motor drive unit
  • the motor drive unit 5 is a second motor drive unit
  • the motor drive unit 6 is a third motor drive unit, which is a motor drive.
  • Unit 7 is a fourth motor drive unit.
  • the robot 1 configured as described above is assembled in the following procedure, for example. That is, first, each of the motor drive units 4 to 7 is assembled individually. Thereafter, the motor drive unit 4 is attached to the main body 2, and the motor drive units 5 to 7 are attached to the second arm portion 12. After the motor drive units 6 and 7 are attached to the second arm portion 12, the belt 52 is bridged between the pulley 40 and the pulley 61. Thereafter, the first arm portion 11 is attached to the motor drive unit 4 attached to the main body portion 2, and the first arm portion 11 is attached to the motor drive unit 5 attached to the second arm portion 12.
  • the wiring box 18 is attached to the main body 2 and the cover members 21 and 22 and the bellows 54 and 56 are attached. Further, after connecting the wiring arranged in the flexible tube 23, one end of the flexible tube 23 is attached to the cover member 22, and the other end of the flexible tube 23 is attached to the wiring box 18.
  • the motor drive unit 4 is configured separately from the main body 2 and the first arm 11 and is detachably attached to the main body 2 and the first arm 11. Yes.
  • the motor drive unit 5 is configured separately from the first arm unit 11 and the second arm unit 12, and is detachably attached to the first arm unit 11 and the second arm unit 12. Yes.
  • the motor drive units 6 and 7 are configured separately from the second arm portion 12 and are detachably attached to the second arm portion 12. Therefore, in this embodiment, when the motor 25, 30, 35, 45, the speed reducer 26, 31, 36, the speed reduction mechanism 60, or the like fails, the robot 1 is repaired by replacing the motor drive units 4-7. Can do.
  • the robot 1 when the motor 25, 30, 35, 45, the speed reducer 26, 31, 36, the speed reduction mechanism 60, or the like fails, the robot 1 can be repaired in a short time.
  • the motors 25, 30, 35, 45, the speed reducers 26, 31, 36, the speed reduction mechanism 60, or the like fails, it is not necessary to replace the main body 2 or the arm 3. Therefore, in this embodiment, when the motors 25, 30, 35, 45, the speed reducers 26, 31, 36, the speed reduction mechanism 60, etc. break down, the robot 1 can be repaired at a low cost.
  • the first arm portion 11 is formed with recesses 11a and 11d
  • the output portion 28 of the speed reducer 26 is formed with a convex portion 28a that engages with the recess 11a
  • the output portion 33 of the speed reducer 31 is formed with the recess 11d.
  • An engaging projection 33a is formed.
  • a step portion 12b for positioning the motor drive unit 5 is formed on the upper end side of the arrangement hole 12a of the second arm portion 12. Therefore, in this embodiment, the motor drive units 4 and 5 can be easily positioned with respect to the arm 3. Therefore, in this embodiment, when the motor 25 or the like constituting the motor drive unit 4 or the motor 30 or the like constituting the motor drive unit 5 breaks down, the robot 1 can be repaired in a shorter time. Further, in this embodiment, when the robot 1 is assembled, the motor drive units 4 and 5 can be attached to the arm 3 in a short time.
  • one end of the flexible tube 23 is detachably attached to the cover member 22, and the other end of the flexible tube 23 is detachably attached to the wiring box 18.
  • one end of the wiring arranged in the flexible tube 23 is detachably connected to the motors 30, 35, 45, etc. via connectors, and the other end of this wiring is connected to the wiring box 18. It is detachably connected to a substrate to be arranged and predetermined wiring via a connector. Therefore, in this embodiment, when the wiring arranged in the flexible tube 23 fails, the wiring is removed from the cover member 22 and the wiring box 18 together with the flexible tube 23 and only the failed wiring is replaced. Is possible.
  • all the motors 25, 30, 35, 45, all the reduction gears 26, 31, 36, and the reduction mechanism 60 included in the robot 1 are incorporated in the motor drive units 4-7.
  • the motors 25, 30, 35, 45, the speed reducers 26, 31, 36, and the speed reduction mechanism 60 are not incorporated into the motor drive units 4 to 7 but directly to the main body 2 or the arm 3. , There may be something built in.
  • the arm 3 is constituted by two arm parts, the first arm part 11 and the second arm part 12, but the arm 3 may be constituted by three or more arm parts.
  • the robot 1 is a horizontal articulated robot, but the robot to which the present invention is applied may be a robot other than the horizontal articulated robot.

Abstract

Provided is an industrial robot such that it is possible to perform maintenance at a low cost and in a short time in the case that a motor for operating the industrial robot or a speed reduction mechanism that reduces the speed of the motive power of the motor and transmits the result breaks down. Specifically, the industrial robot (1), which has a main body (2) and an arm (3) of which the base end side is rotatably joined to the main body (2), is provided with: a motor drive unit (4) having a motor (25) and a speed reducer (26) that reduces the speed of the motive power of the motor (25) and transmits the result; a motor drive unit (5) having a motor (30) and a speed reducer (31) that reduces the speed of the motive power of the motor (30) and transmits the result; a motor drive unit (6) having a motor (35) and a speed reducer (36) that reduces the speed of the motive power of the motor (35) and transmits the result; and a motor drive unit (7) having a motor (45) and a speed reducer (60) that reduces the speed of the motive power of the motor (45) and transmits the result. The motor drive units (4-7) are configured as separate bodies from the arm (3), and are detachably attached to the arm (3).

Description

産業用ロボットIndustrial robot
　本発明は、部品の組立ライン等に設置されて使用される産業用ロボットに関する。 The present invention relates to an industrial robot installed and used in an assembly line for parts.
　従来、所定のハンドツールを使用して、部品の搬送や組付け、ネジ締め等の作業を行う産業用ロボットが知られている（たとえば、特許文献１参照）。特許文献１に記載の産業用ロボットは、本体主部と第１旋回アームと第２旋回アームとハンドツールとを備えている。第１旋回アームの基端側は、本体主部に回動可能に連結されている。第２旋回アームの基端側は、第１旋回アームの先端側に回動可能に連結されている。第２旋回アームの先端側には、回転軸が回転可能に取り付けられており、ハンドツールは、この回転軸の下端に固定されている。 2. Description of the Related Art Conventionally, an industrial robot that performs operations such as parts conveyance, assembly, and screw tightening using a predetermined hand tool is known (for example, see Patent Document 1). The industrial robot described in Patent Document 1 includes a main body, a first turning arm, a second turning arm, and a hand tool. The base end side of the first turning arm is rotatably connected to the main body main part. The proximal end side of the second turning arm is rotatably connected to the distal end side of the first turning arm. A rotating shaft is rotatably attached to the distal end side of the second turning arm, and the hand tool is fixed to the lower end of the rotating shaft.
　また、特許文献１に記載の産業用ロボットは、第１旋回アームを上下動させるための上下駆動用サーボモータと、本体主部に対して第１旋回アームを旋回させるための第１旋回用サーボモータと、第１旋回アームに対して第２旋回アームを旋回させるための第２旋回用サーボモータと、第２旋回アームに対して回転軸と一緒にハンドツールを回転させるための回転用サーボモータとを備えている。なお、この産業用ロボットでは、第２旋回アームは、第２旋回アームの基端側半分を構成する分割アームと、第２旋回アームの先端側半分を構成する分割アームとによって構成されており、先端側半分を構成する分割アームは、基端側半分を構成する分割アームに着脱可能となっている。 The industrial robot described in Patent Document 1 includes a vertical drive servomotor for moving the first swing arm up and down, and a first swing servo for rotating the first swing arm with respect to the main body main part. A motor, a second turning servo motor for turning the second turning arm with respect to the first turning arm, and a rotating servo motor for rotating the hand tool together with the rotation shaft with respect to the second turning arm And. In this industrial robot, the second swivel arm is composed of a split arm that forms the base half of the second swivel arm and a split arm that forms the tip half of the second swivel arm. The split arm that forms the distal half is detachable from the split arm that forms the proximal half.
特開平６－３２０４７５号公報JP-A-6-320475
　特許文献１に記載の産業ロボットでは、サーボモータやサーボモータの動力を減速して伝達する減速機等が故障した場合、その周辺部分を分解しないと、サーボモータや減速機等を取り換えることができない。そのため、この産業用ロボットでは、サーボモータや減速機等が故障すると、その修理に時間がかかり、メンテナンス性が良くない。なお、特許文献１に記載の産業ロボットでは、第２旋回アームが２個の分割アームによって構成されているため、回転用サーボモータが故障したときに、第２旋回アームの先端側半分を構成する分割アームを取り外すことで、回転用サーボモータを容易に取り換えることが可能であるが、この場合には、第２旋回アームの先端側半分を取り換えなければならないため、交換用の部品代が高くなる。 In the industrial robot described in Patent Document 1, when a servo motor or a speed reducer that transmits power by decelerating the servo motor fails, the servo motor, the speed reducer, or the like cannot be replaced unless the peripheral portion thereof is disassembled. . For this reason, in this industrial robot, if a servo motor, a speed reducer, or the like breaks down, the repair takes time and the maintainability is not good. In the industrial robot described in Patent Document 1, since the second turning arm is constituted by two split arms, when the servo motor for rotation breaks down, the tip half of the second turning arm is formed. By removing the split arm, it is possible to easily replace the servo motor for rotation, but in this case, since the tip half of the second swivel arm must be replaced, the replacement part cost increases. .
　そこで、本発明の課題は、産業用ロボットを動作させるためのモータやこのモータの動力を減速して伝達する減速機構が故障した場合に、短時間で、かつ、低コストで修理を行うことが可能な産業用ロボットを提供することにある。 Accordingly, an object of the present invention is to perform repair in a short time and at a low cost when a motor for operating an industrial robot or a speed reducing mechanism for decelerating and transmitting the power of the motor fails. It is to provide a possible industrial robot.
　上記の課題を解決するため、本発明の産業用ロボットは、本体部と、本体部にその基端側が回動可能に連結されるアームとを有する産業用ロボットにおいて、モータとモータの動力を減速して伝達する減速機構とを有し産業用ロボットを動作させるモータ駆動ユニットを備え、モータ駆動ユニットは、アームと別体で構成され、アームに着脱可能に取り付けられていることを特徴とする。 In order to solve the above-described problems, an industrial robot of the present invention is an industrial robot having a main body and an arm whose base end is rotatably connected to the main body, and the motor and the power of the motor are decelerated. And a motor drive unit for operating the industrial robot. The motor drive unit is configured separately from the arm and is detachably attached to the arm.
　本発明の産業用ロボットでは、モータとモータの動力を減速して伝達する減速機構とを有し産業用ロボットを動作させるモータ駆動ユニットがアームと別体で構成されており、アームに着脱可能に取り付けられている。そのため、本発明では、モータや減速機構が故障した場合に、アームに着脱可能なモータ駆動ユニットを取り換えることで産業用ロボットの修理を行うことができる。したがって、本発明では、モータや減速機構が故障した場合に、産業用ロボットの修理を短時間で行うことが可能になる。また、本発明では、モータや減速機が故障した場合に、アームの一部分を交換する必要がない。したがって、本発明では、モータや減速機構が故障した場合に、産業用ロボットの修理を低コストで行うことが可能になる。 In the industrial robot of the present invention, the motor drive unit that operates the industrial robot having a motor and a speed reducing mechanism that decelerates and transmits the power of the motor is configured separately from the arm, and can be attached to and detached from the arm. It is attached. Therefore, in the present invention, when the motor or the speed reduction mechanism breaks down, the industrial robot can be repaired by replacing the motor drive unit that can be attached to and detached from the arm. Therefore, according to the present invention, it is possible to repair the industrial robot in a short time when the motor or the speed reduction mechanism breaks down. Moreover, in this invention, when a motor or a reduction gear breaks down, it is not necessary to replace a part of arm. Therefore, according to the present invention, it is possible to repair an industrial robot at a low cost when a motor or a speed reduction mechanism breaks down.
　本発明において、産業用ロボットは、たとえば、本体部にその基端側が回動可能に連結される第１アーム部と第１アーム部の先端側にその基端側が回動可能に連結される第２アーム部とを有するアームを備えるとともに、モータ駆動ユニットとして、本体部に対して第１アーム部を回動させるための第１モータ駆動ユニットと、第１アーム部に対して第２アーム部を回動させるための第２モータ駆動ユニットと、第２アーム部の先端側に配置されるエンドエフェクタを第２アーム部に対して回転させるための第３モータ駆動ユニットと、第２アーム部に対してエンドエフェクタを昇降させるための第４モータ駆動ユニットとを備えている。 In the present invention, the industrial robot includes, for example, a first arm portion whose base end side is rotatably connected to the main body portion and a base end side rotatably connected to the distal end side of the first arm portion. A first motor drive unit for rotating the first arm part with respect to the main body part, and a second arm part with respect to the first arm part. A second motor drive unit for rotating, a third motor drive unit for rotating an end effector disposed on the distal end side of the second arm portion relative to the second arm portion, and a second arm portion And a fourth motor drive unit for raising and lowering the end effector.
　また、この場合には、たとえば、第１モータ駆動ユニットは、第１アーム部および本体部に着脱可能に取り付けられ、第２モータ駆動ユニットは、第１アーム部および第２アーム部に着脱可能に取り付けられ、第３モータ駆動ユニットおよび第４モータ駆動ユニットは、第２アーム部に着脱可能に取り付けられている。この場合には、いずれのモータ駆動ユニットを構成するモータや減速機構が故障した場合であっても、産業用ロボットを短時間で、かつ、低コストで修理することが可能になる。 In this case, for example, the first motor drive unit is detachably attached to the first arm portion and the main body portion, and the second motor drive unit is detachably attached to the first arm portion and the second arm portion. The third motor drive unit and the fourth motor drive unit are detachably attached to the second arm portion. In this case, the industrial robot can be repaired in a short time and at a low cost even if the motor or the speed reduction mechanism constituting any motor drive unit fails.
　本発明において、第１アーム部には、第１モータ駆動ユニットを位置決めするための第１凹部と、第２モータ駆動ユニットを位置決めするための第２凹部とが形成され、第２アーム部には、第２モータ駆動ユニットの一部が配置される配置孔が形成され、配置孔には、第２モータ駆動ユニットを位置決めするための段部が形成されていることが好ましい。このように構成すると、第１モータ駆動ユニットおよび第２モータ駆動ユニットをアームに対して容易に位置決めすることが可能になる。したがって、第１モータ駆動ユニットを構成するモータ等や第２モータ駆動ユニットを構成するモータ等が故障した場合に、より短時間で産業用ロボットの修理を行うことが可能になる。また、産業用ロボットの組立時に、第１モータ駆動ユニットおよび第２モータ駆動ユニットを短時間でアームに取り付けることが可能になる。 In the present invention, the first arm portion is formed with a first recess for positioning the first motor drive unit and a second recess for positioning the second motor drive unit. Preferably, an arrangement hole in which a part of the second motor drive unit is arranged is formed, and a step portion for positioning the second motor drive unit is formed in the arrangement hole. If comprised in this way, it will become possible to position a 1st motor drive unit and a 2nd motor drive unit easily with respect to an arm. Therefore, when the motor constituting the first motor drive unit or the motor constituting the second motor drive unit breaks down, the industrial robot can be repaired in a shorter time. In addition, when the industrial robot is assembled, the first motor drive unit and the second motor drive unit can be attached to the arm in a short time.
　本発明において、第３モータ駆動ユニットは、たとえば、減速機構として、モータの動力が入力される入力部と、入力部と同軸上に配置され入力部から入力された動力が減速されて出力される出力部とを有する減速機を備えるとともに、出力部に取り付けられる第１プーリを備えている。 In the present invention, the third motor drive unit is, for example, as a speed reduction mechanism, an input unit to which the power of the motor is input, and the power input from the input unit arranged coaxially with the input unit is output after being decelerated. A reduction gear having an output part is provided, and a first pulley attached to the output part is provided.
　また、本発明において、たとえば、第４モータ駆動ユニットは、エンドエフェクタが取り付けられるボールネジスプラインと、ボールネジスプラインのボールネジナットに取り付けられる第２プーリと、モータの出力軸に取り付けられる第３プーリと、第２プーリと第３プーリとに架け渡される第１ベルトと、ボールネジスプラインのスプラインナットに取り付けられる第４プーリとを備え、第１プーリと第４プーリとには、第２ベルトが架け渡されている。 In the present invention, for example, the fourth motor drive unit includes a ball screw spline to which the end effector is attached, a second pulley attached to the ball screw nut of the ball screw spline, a third pulley attached to the output shaft of the motor, A first belt spanned between two pulleys and a third pulley, and a fourth pulley attached to a spline nut of a ball screw spline. The second belt is spanned between the first pulley and the fourth pulley. Yes.
　本発明において、産業用ロボットは、第２アーム部に取り付けられる第２モータ駆動ユニット、第３モータ駆動ユニットおよび第４モータ駆動ユニットを覆うカバー部材と、本体部に固定される配線ボックスと、カバー部材に一端が着脱可能に取り付けられ配線ボックスに他端が着脱可能に取り付けられるフレキシブルチューブと、フレキシブルチューブの中に配置される配線とを備えていることが好ましい。このように構成すると、フレキシブルチューブの中に配置される配線が故障した場合に、フレキブルチューブと一緒にカバー部材および配線ボックスから配線を取り外して、故障した配線のみを交換することが可能になる。 In the present invention, the industrial robot includes a second motor driving unit attached to the second arm part, a cover member covering the third motor driving unit and the fourth motor driving unit, a wiring box fixed to the main body part, and a cover. It is preferable to include a flexible tube having one end detachably attached to the member and the other end detachably attached to the wiring box, and wiring arranged in the flexible tube. If comprised in this way, when the wiring arrange | positioned in a flexible tube fails, it will become possible to remove a wiring from a cover member and a wiring box with a flexible tube, and to replace | exchange only the failed wiring. .
　以上のように、本発明では、産業用ロボットを動作させるためのモータやこのモータの動力を減速して伝達する減速機構が故障した場合に、短時間で、かつ、低コストで産業用ロボットの修理を行うことが可能になる。 As described above, according to the present invention, when a motor for operating an industrial robot or a speed reduction mechanism for decelerating and transmitting the power of the motor fails, the industrial robot can be manufactured in a short time and at a low cost. It becomes possible to perform repairs.
本発明の実施の形態にかかる産業用ロボットの構成を説明するための側面図である。It is a side view for demonstrating the structure of the industrial robot concerning embodiment of this invention. 図１に示す産業用ロボットの平面図である。It is a top view of the industrial robot shown in FIG. 図１に示す第１アーム部の図であり、（Ａ）は平面図、（Ｂ）は底面図である。It is a figure of the 1st arm part shown in FIG. 1, (A) is a top view, (B) is a bottom view. 図１に示す第２アーム部の図であり、（Ａ）は平面図、（Ｂ）は（Ａ）のＥ－Ｅ断面の断面図である。FIGS. 2A and 2B are views of a second arm portion shown in FIG. 1, in which FIG. 1A is a plan view, and FIG. 図１に示す第１モータ駆動ユニットを説明するための図である。It is a figure for demonstrating the 1st motor drive unit shown in FIG. 図１に示す第２モータ駆動ユニットを説明するための図である。It is a figure for demonstrating the 2nd motor drive unit shown in FIG. 図１に示す第３モータ駆動ユニットを説明するための図である。It is a figure for demonstrating the 3rd motor drive unit shown in FIG. 図１に示す第４モータ駆動ユニットを説明するための図である。It is a figure for demonstrating the 4th motor drive unit shown in FIG.
　以下、図面を参照しながら、本発明の実施の形態を説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　（産業用ロボットの構成）
　図１は、本発明の実施の形態にかかる産業用ロボット１の構成を説明するための側面図である。図２は、図１に示す産業用ロボット１の平面図である。図３は、図１に示す第１アーム部１１の図であり、（Ａ）は平面図、（Ｂ）は底面図である。図４は、図１に示す第２アーム部１２の図であり、（Ａ）は平面図、（Ｂ）は（Ａ）のＥ－Ｅ断面の断面図である。以下の説明では、図１のＺ方向を上下方向とする。また、Ｚ１方向側を「上」側とし、Ｚ２方向側を「下」側とする。 (Composition of industrial robot)
FIG. 1 is a side view for explaining the configuration of an industrial robot 1 according to an embodiment of the present invention. FIG. 2 is a plan view of the industrial robot 1 shown in FIG. 3A and 3B are views of the first arm portion 11 shown in FIG. 1, wherein FIG. 3A is a plan view and FIG. 3B is a bottom view. 4A and 4B are views of the second arm portion 12 shown in FIG. 1, in which FIG. 4A is a plan view and FIG. 4B is a cross-sectional view taken along the line EE of FIG. In the following description, the Z direction in FIG. The Z1 direction side is the “upper” side, and the Z2 direction side is the “lower” side.
　本形態の産業用ロボット１（以下、「ロボット１」とする。）は、部品の製造ラインや組立ライン等に設置されて使用される水平多関節ロボット（ＳＣＡＲＡロボット）である。このロボット１は、本体部２と、本体部２にその基端側が回動可能に連結されるアーム３と、ロボット１を動作させるための４つのモータ駆動ユニット４～７とを備えている。アーム３は、第１アーム部１１と、第１アーム部１１の上側に配置される第２アーム部１２との２個のアーム部によって構成されている。第１アーム部１１の基端側は、本体部２に回動可能に連結されている。第２アーム部１２の基端側は、第１アーム部１１の先端側に回動可能に連結されている。 The industrial robot 1 of this embodiment (hereinafter referred to as “robot 1”) is a horizontal articulated robot (SCARA robot) that is installed and used in a part manufacturing line, an assembly line, or the like. The robot 1 includes a main body 2, an arm 3 whose base end is rotatably connected to the main body 2, and four motor drive units 4 to 7 for operating the robot 1. The arm 3 is composed of two arm parts, a first arm part 11 and a second arm part 12 disposed on the upper side of the first arm part 11. A proximal end side of the first arm portion 11 is rotatably connected to the main body portion 2. The proximal end side of the second arm portion 12 is rotatably connected to the distal end side of the first arm portion 11.
　モータ駆動ユニット４は、本体部２に対して第１アーム部１１を回動させるために設けられている。このモータ駆動ユニット４は、本体部２と第１アーム部１１とを繋ぐ関節部１３を構成している。モータ駆動ユニット５は、第１アーム部１１に対して第２アーム部１２を回動させるために設けられている。このモータ駆動ユニット５は、第１アーム部１１と第２アーム部１２とを繋ぐ関節部１４を構成している。モータ駆動ユニット６は、第２アーム部１２の先端側に配置されるエンドエフェクタ（図示省略）を第２アーム部１２に対して回転させるために設けられている。モータ駆動ユニット７は、第２アーム部１２に対してエンドエフェクタを昇降させるために設けられている。モータ駆動ユニット４～７の具体的な構成については後述する。 The motor drive unit 4 is provided to rotate the first arm portion 11 with respect to the main body portion 2. The motor drive unit 4 constitutes a joint portion 13 that connects the main body portion 2 and the first arm portion 11. The motor drive unit 5 is provided to rotate the second arm portion 12 with respect to the first arm portion 11. The motor drive unit 5 constitutes a joint portion 14 that connects the first arm portion 11 and the second arm portion 12. The motor drive unit 6 is provided to rotate an end effector (not shown) disposed on the distal end side of the second arm portion 12 with respect to the second arm portion 12. The motor drive unit 7 is provided to raise and lower the end effector relative to the second arm portion 12. Specific configurations of the motor drive units 4 to 7 will be described later.
　本体部２は、略円筒状に形成されている。この本体部２の下端は、たとえば、製造ラインや組立ラインの一部をなすフレーム１６に固定されている。本体部２の側面には、略直方体状に形成される配線ボックス１８が固定されている。配線ボックス１８の中には、非常用の電源や所定の基板等が収容されている。 The main body 2 is formed in a substantially cylindrical shape. The lower end of the main body 2 is fixed to a frame 16 that forms a part of a production line or an assembly line, for example. A wiring box 18 formed in a substantially rectangular parallelepiped shape is fixed to the side surface of the main body 2. In the wiring box 18, an emergency power source, a predetermined board, and the like are accommodated.
　第１アーム部１１は、上下方向から見たときの形状が略長方形状となる上下方向に扁平なブロック状に形成されている。第１アーム部１１の基端側の下面には、モータ駆動ユニット４を位置決めするための第１凹部としての凹部１１ａが形成されている。凹部１１ａは、円形状に形成されるとともに上側へ窪むように形成されている。また、第１アーム部１１の基端側には、モータ駆動ユニット４の一部を固定するためのボルト１９が配置される複数の配置孔１１ｂが形成されている。配置孔１１ｂは、上下方向で第１アーム部１１を貫通するように形成されている。また、複数の配置孔１１ｂは、凹部１１ａを囲む円環状に配置されている。配置孔１１ｂの上端側には、ボルト１９の頭部とネジ部との境界部分が当接する段部１１ｃが形成されている。 The first arm portion 11 is formed in a block shape that is flat in the vertical direction when viewed from the vertical direction and has a substantially rectangular shape. A recess 11 a as a first recess for positioning the motor drive unit 4 is formed on the lower surface of the base end side of the first arm portion 11. The recess 11a is formed in a circular shape and is recessed upward. A plurality of arrangement holes 11 b in which bolts 19 for fixing a part of the motor drive unit 4 are arranged are formed on the base end side of the first arm portion 11. The arrangement hole 11b is formed so as to penetrate the first arm portion 11 in the vertical direction. The plurality of arrangement holes 11b are arranged in an annular shape surrounding the recess 11a. On the upper end side of the arrangement hole 11b, a step portion 11c is formed on which a boundary portion between the head of the bolt 19 and the screw portion abuts.
　第１アーム部１１の先端側の上面には、モータ駆動ユニット５を位置決めするための第２凹部としての凹部１１ｄが形成されている。凹部１１ｄは、円形状に形成されるとともに下側へ窪むように形成されている。また、第１アーム部１１の先端側には、モータ駆動ユニット５の一部を固定するためのボルト２０が配置される複数の配置孔１１ｅが形成されている。配置孔１１ｅは、上下方向で第１アーム部１１を貫通するように形成されている。また、複数の配置孔１１ｅは、凹部１１ｄを囲む円環状に配置されている。配置孔１１ｅの上端側には、ボルト２０の頭部とネジ部との境界部分が当接する段部１１ｆが形成されている。 A concave portion 11d as a second concave portion for positioning the motor driving unit 5 is formed on the top surface of the first arm portion 11 on the distal end side. The recess 11d is formed in a circular shape and is recessed downward. Further, a plurality of arrangement holes 11 e in which bolts 20 for fixing a part of the motor drive unit 5 are arranged are formed on the distal end side of the first arm portion 11. The arrangement hole 11e is formed so as to penetrate the first arm portion 11 in the vertical direction. Further, the plurality of arrangement holes 11e are arranged in an annular shape surrounding the recess 11d. On the upper end side of the arrangement hole 11e, a step portion 11f is formed on which the boundary portion between the head of the bolt 20 and the screw portion abuts.
　第２アーム部１２は、上下方向から見たときの形状が略長円形状となる上下方向に扁平なブロック状に形成されている。第２アーム部１２の基端側には、モータ駆動ユニット５の下端側部分が配置される配置孔１２ａが形成されている。配置孔１２ａは、上下方向で第２アーム部１２を貫通するように形成されている。また、配置孔１２ａは、丸孔状に形成されている。配置孔１２ａの上端側には、モータ駆動ユニット５を位置決めするための円環状の段部１２ｂが形成されている。 The second arm portion 12 is formed in a block shape that is flat in the vertical direction so that the shape when viewed from the vertical direction is a substantially oval shape. An arrangement hole 12 a in which the lower end portion of the motor drive unit 5 is arranged is formed on the base end side of the second arm portion 12. The arrangement hole 12a is formed so as to penetrate the second arm portion 12 in the vertical direction. The arrangement hole 12a is formed in a round hole shape. An annular step 12b for positioning the motor drive unit 5 is formed on the upper end side of the arrangement hole 12a.
　第２アーム部１２の配置孔１２ａよりも先端側には、モータ駆動ユニット６の下端側部分が配置される配置孔１２ｃと、モータ駆動ユニット７を構成する後述のモータ４５の下端側部分が配置される配置孔１２ｄと、モータ駆動ユニット７を構成する後述のプーリ６１等が配置される配置孔１２ｅとが形成されている。配置孔１２ｃ～１２ｅは、第２アーム部１２の基端側から先端側に向かってこの順番に形成されている。また、配置孔１２ｃ～１２ｅは、上下方向で第２アーム部１２を貫通するように形成されている。また、配置孔１２ｃ、１２ｄは、略四角孔状に形成され、配置孔１２ｅは、丸孔状に形成されている。図４（Ｂ）に示すように、配置孔１２ｃ～１２ｅの上端側は互いに分かれているが、配置孔１２ｃ～１２ｅの下端側は互いに繋がっている。第２アーム部１２の下面には、配置孔１２ｃ～１２ｅを覆うカバー部材２１が固定されている。 An arrangement hole 12c in which a lower end side portion of the motor drive unit 6 is arranged and a lower end side portion of a motor 45 (to be described later) constituting the motor drive unit 7 are arranged on the front end side of the arrangement hole 12a of the second arm portion 12. An arrangement hole 12d is formed, and an arrangement hole 12e in which a pulley 61, which will be described later, constituting the motor drive unit 7 is arranged is formed. The arrangement holes 12c to 12e are formed in this order from the proximal end side to the distal end side of the second arm portion 12. The arrangement holes 12c to 12e are formed so as to penetrate the second arm portion 12 in the vertical direction. The arrangement holes 12c and 12d are formed in a substantially square hole shape, and the arrangement hole 12e is formed in a round hole shape. As shown in FIG. 4B, the upper end sides of the arrangement holes 12c to 12e are separated from each other, but the lower end sides of the arrangement holes 12c to 12e are connected to each other. A cover member 21 that covers the placement holes 12c to 12e is fixed to the lower surface of the second arm portion 12.
　第２アーム部１２の上面側には、後述のように、モータ駆動ユニット５～７が取り付けられており、モータ駆動ユニット５～７の一部は、第２アーム部１２の上面よりも突出している。第２アーム部１２の上面側には、モータ駆動ユニット５～７を覆うカバー部材２２が取り付けられている。カバー部材２２には、柔軟性を有する樹脂で形成されたフレキシブルチューブ２３の一端が着脱可能に取り付けられている。具体的には、カバー部材２２の、モータ駆動ユニット５の上方に、フレキシブルチューブ２３の一端が着脱可能に取り付けられている。フレキシブルチューブ２３の他端は、配線ボックス１８に着脱可能に取り付けられている。フレキシブルチューブ２３の中には、モータ駆動ユニット５～７を構成する後述のモータ３０、３５、４５等に接続される配線（図示省略）が配置されている。この配線の一端は、モータ３０、３５、４５等にコネクタを介して着脱可能に接続され、この配線の他端は、配線ボックス１８内に配置される基板や所定の配線にコネクタを介して着脱可能に接続されている。 As will be described later, motor drive units 5 to 7 are attached to the upper surface side of the second arm portion 12, and a part of the motor drive units 5 to 7 protrudes from the upper surface of the second arm portion 12. Yes. A cover member 22 that covers the motor drive units 5 to 7 is attached to the upper surface side of the second arm portion 12. One end of a flexible tube 23 formed of a flexible resin is detachably attached to the cover member 22. Specifically, one end of the flexible tube 23 is detachably attached to the cover member 22 above the motor drive unit 5. The other end of the flexible tube 23 is detachably attached to the wiring box 18. In the flexible tube 23, wiring (not shown) connected to motors 30, 35, 45, etc., which will be described later, constituting the motor drive units 5 to 7 is disposed. One end of the wiring is detachably connected to the motors 30, 35, 45, etc. via a connector, and the other end of the wiring is attached to and detached from a substrate or predetermined wiring arranged in the wiring box 18 via the connector. Connected as possible.
　（モータ駆動ユニットの構成）
　図５は、図１に示すモータ駆動ユニット４を説明するための図である。図６は、図１に示すモータ駆動ユニット５を説明するための図である。図７は、図１に示すモータ駆動ユニット６を説明するための図である。図８は、図１に示すモータ駆動ユニット７を説明するための図である。 (Configuration of motor drive unit)
FIG. 5 is a diagram for explaining the motor drive unit 4 shown in FIG. 1. FIG. 6 is a diagram for explaining the motor drive unit 5 shown in FIG. 1. FIG. 7 is a view for explaining the motor drive unit 6 shown in FIG. FIG. 8 is a diagram for explaining the motor drive unit 7 shown in FIG.
　モータ駆動ユニット４は、本体部２および第１アーム部１１と別体で構成されており、本体部２および第１アーム部１１に着脱可能に取り付けられている。このモータ駆動ユニット４は、本体部２に対して第１アーム部１１を回動させるためのモータ２５と、モータ２５の動力を減速して伝達する減速機構としての減速機２６とを備えている。本形態では、モータ駆動ユニット４は、モータ２５と減速機２６とから構成されている。モータ２５は、その出力軸が上側へ突出するように配置されており、減速機２６は、モータ２５の上側に配置されている。 The motor drive unit 4 is configured separately from the main body 2 and the first arm 11 and is detachably attached to the main body 2 and the first arm 11. The motor drive unit 4 includes a motor 25 for rotating the first arm unit 11 with respect to the main body unit 2 and a speed reducer 26 as a speed reduction mechanism that transmits the power of the motor 25 at a reduced speed. . In the present embodiment, the motor drive unit 4 includes a motor 25 and a speed reducer 26. The motor 25 is arranged such that its output shaft protrudes upward, and the speed reducer 26 is arranged above the motor 25.
　減速機２６は、モータ２５の動力が入力される入力部２７と、入力部２７から入力された動力が減速されて出力される出力部２８とを備えている。入力部２７には、モータ２５の出力軸が固定され、出力部２８には、ボルト１９によって第１アーム部１１の基端側が固定されている。入力部２７と出力部２８とは同軸上に配置されている。また、入力部２７および出力部２８は、減速機２６のケース体２９に軸受を介して回転可能に支持されている。ケース体２９には、モータ２５の本体が固定されている。また、ケース体２９は、略円筒状に形成される本体部２の上端に固定されている。具体的には、ケース体２９に径方向の外側へ広がるフランジが形成されており、このフランジが本体部２の上端に固定されている。出力部２８には、第１アーム部１１の凹部１１ａに係合する円板状の凸部２８ａが上側へ突出するように形成されている。 The reducer 26 includes an input unit 27 to which the power of the motor 25 is input, and an output unit 28 to output the power input from the input unit 27 after being decelerated. The output shaft of the motor 25 is fixed to the input portion 27, and the proximal end side of the first arm portion 11 is fixed to the output portion 28 by a bolt 19. The input unit 27 and the output unit 28 are arranged on the same axis. Moreover, the input part 27 and the output part 28 are rotatably supported by the case body 29 of the reduction gear 26 via a bearing. The body of the motor 25 is fixed to the case body 29. Moreover, the case body 29 is being fixed to the upper end of the main-body part 2 formed in a substantially cylindrical shape. Specifically, a flange extending outward in the radial direction is formed in the case body 29, and this flange is fixed to the upper end of the main body 2. The output portion 28 is formed with a disk-like convex portion 28 a that engages with the concave portion 11 a of the first arm portion 11 so as to protrude upward.
　モータ駆動ユニット５は、第１アーム部１１および第２アーム部１２と別体で構成されており、第１アーム部１１および第２アーム部１２に着脱可能に取り付けられている。このモータ駆動ユニット５は、第１アーム部１１に対して第２アーム部１２を回動させるためのモータ３０と、モータ３０の動力を減速して伝達する減速機構としての減速機３１とを備えている。本形態では、モータ駆動ユニット５は、モータ３０と減速機３１とから構成されている。モータ３０は、その出力軸が下側へ突出するように配置されており、減速機３１は、モータ３０の下側に配置されている。また、減速機３１の大半部分は、第２アーム部１２の配置孔１２ａの中に配置されている。 The motor drive unit 5 is configured separately from the first arm unit 11 and the second arm unit 12, and is detachably attached to the first arm unit 11 and the second arm unit 12. The motor drive unit 5 includes a motor 30 for rotating the second arm portion 12 with respect to the first arm portion 11, and a speed reducer 31 as a speed reduction mechanism for decelerating and transmitting the power of the motor 30. ing. In the present embodiment, the motor drive unit 5 includes a motor 30 and a speed reducer 31. The motor 30 is arranged such that its output shaft protrudes downward, and the speed reducer 31 is arranged below the motor 30. The most part of the speed reducer 31 is arranged in the arrangement hole 12 a of the second arm portion 12.
　減速機３１は、モータ３０の動力が入力される入力部３２と、入力部３２から入力された動力が減速されて出力される出力部３３とを備えている。入力部３２には、モータ３０の出力軸が固定され、出力部３３には、ボルト２０によって第１アーム部１１の先端側が固定されている。入力部３２と出力部３３とは同軸上に配置されている。また、入力部３２および出力部３３は、減速機３１のケース体３４に軸受を介して回転可能に支持されている。ケース体３４には、モータ３０の本体が固定されている。また、ケース体３４は、第２アーム部１２の基端側に固定されている。具体的には、ケース体３４に径方向の外側へ広がるフランジが形成されており、このフランジが第２アーム部１２の配置孔１２ａの段部１２ｂに当接した状態で段部１２ｂに固定されている。出力部３３には、第１アーム部１１の凹部１１ｄに係合する円板状の凸部３３ａが下側へ突出するように形成されている。 The speed reducer 31 includes an input unit 32 to which the power of the motor 30 is input, and an output unit 33 to which the power input from the input unit 32 is decelerated and output. The output shaft of the motor 30 is fixed to the input portion 32, and the distal end side of the first arm portion 11 is fixed to the output portion 33 by the bolt 20. The input unit 32 and the output unit 33 are arranged on the same axis. Moreover, the input part 32 and the output part 33 are rotatably supported by the case body 34 of the reduction gear 31 via a bearing. The body of the motor 30 is fixed to the case body 34. The case body 34 is fixed to the base end side of the second arm portion 12. Specifically, a flange extending radially outward is formed in the case body 34, and this flange is fixed to the step portion 12 b in a state where the flange is in contact with the step portion 12 b of the arrangement hole 12 a of the second arm portion 12. ing. The output portion 33 is formed with a disk-like convex portion 33 a that engages with the concave portion 11 d of the first arm portion 11 so as to protrude downward.
　モータ駆動ユニット６は、第２アーム部１２と別体で構成されており、第２アーム部１２に着脱可能に取り付けられている。このモータ駆動ユニット６は、第２アーム部１２に対してエンドエフェクタ（図示省略）を回転させるためのモータ３５と、モータ３５の動力を減速して伝達する減速機構としての減速機３６とを備えている。モータ３５は、その出力軸が下側へ突出するように配置されており、減速機３６は、モータ３５の下側に配置されている。 The motor drive unit 6 is configured separately from the second arm portion 12 and is detachably attached to the second arm portion 12. The motor drive unit 6 includes a motor 35 for rotating an end effector (not shown) with respect to the second arm portion 12, and a speed reducer 36 as a speed reduction mechanism for reducing and transmitting the power of the motor 35. ing. The motor 35 is disposed such that its output shaft protrudes downward, and the speed reducer 36 is disposed below the motor 35.
　減速機３６は、モータ３５の動力が入力される入力部３７と、入力部３７から入力された動力が減速されて出力される出力部（図示省略）とを備えている。入力部３７には、モータ３５の出力軸が固定され、出力部には、第１プーリとしてのプーリ４０が固定されている。入力部３７と出力部とは同軸上に配置されている。また、入力部３７および出力部は、減速機３６のケース体３９に軸受を介して回転可能に支持されている。ケース体３９には、モータ３５の本体が固定されている。また、ケース体３９は、ケース体３９を第２アーム部１２の上面に固定するためのプレート４１に取り付けられており、プレート４１は、第２アーム部１２の上面に固定されている。プーリ４０は、ケース体３９の下側に配置されている。また、減速機３６の下端側およびプーリ４０は、配置孔１２ｃの中に配置されている。 The speed reducer 36 includes an input unit 37 to which the power of the motor 35 is input, and an output unit (not shown) from which the power input from the input unit 37 is decelerated and output. An output shaft of the motor 35 is fixed to the input unit 37, and a pulley 40 as a first pulley is fixed to the output unit. The input unit 37 and the output unit are arranged on the same axis. Moreover, the input part 37 and the output part are rotatably supported by the case body 39 of the reduction gear 36 via a bearing. The body of the motor 35 is fixed to the case body 39. The case body 39 is attached to a plate 41 for fixing the case body 39 to the upper surface of the second arm portion 12, and the plate 41 is fixed to the upper surface of the second arm portion 12. The pulley 40 is disposed below the case body 39. Moreover, the lower end side of the reduction gear 36 and the pulley 40 are arrange | positioned in the arrangement | positioning hole 12c.
　本形態のモータ駆動ユニット６は、モータ３５と減速機３６とプーリ４０とプレート４１とから構成されている。なお、後述のベルト５２の張力を調整するため、第２アーム部１２の上面に対するプレート４１の固定位置は調整可能となっている。 The motor drive unit 6 of this embodiment includes a motor 35, a speed reducer 36, a pulley 40, and a plate 41. In addition, in order to adjust the tension | tensile_strength of the belt 52 mentioned later, the fixing position of the plate 41 with respect to the upper surface of the 2nd arm part 12 is adjustable.
　モータ駆動ユニット７は、第２アーム部１２と別体で構成されており、第２アーム部１２に着脱可能に取り付けられている。このモータ駆動ユニット７は、エンドエフェクタが取り付けられるボールネジスプライン４４と、第２アーム部１２に対してエンドエフェクタを昇降させるためのモータ４５とを備えている。ボールネジスプライン４４は、上下方向を軸方向として配置されるボールネジスプライン軸４６と、ボールネジスプライン軸４６を上下方向へ移動させるボールネジナット４７と、ボールネジスプライン軸４６の軸心を中心にボールネジスプライン軸４６を回転させるスプラインナット４８とを備えている。 The motor drive unit 7 is configured separately from the second arm unit 12 and is detachably attached to the second arm unit 12. The motor drive unit 7 includes a ball screw spline 44 to which an end effector is attached, and a motor 45 for moving the end effector up and down with respect to the second arm portion 12. The ball screw spline 44 includes a ball screw spline shaft 46 arranged with the vertical direction as an axial direction, a ball screw nut 47 for moving the ball screw spline shaft 46 in the vertical direction, and a ball screw spline shaft 46 centering on the axis of the ball screw spline shaft 46. And a spline nut 48 to be rotated.
　モータ４５は、その出力軸が上側へ突出するように配置されている。また、モータ４５の下端側は、配置孔１２ｄの中に配置されている。モータ４５の出力軸には、第３プーリとしてのプーリ４９が固定されている。ボールネジナット４７には、第２プーリとしてのプーリ５０が取り付けられている。ボールネジナット４７とプーリ５０とは同軸上に配置されている。プーリ４９とプーリ５０とには、第１ベルトとしてのベルト５１が架け渡されている。スプラインナット４８には、第４プーリとしてのプーリ６１が取り付けられている。スプラインナット４８とプーリ６１とは同軸上に配置されている。プーリ４０とプーリ６１との間には、第２ベルトとしてのベルト５２が架け渡されている。 The motor 45 is arranged so that its output shaft protrudes upward. Moreover, the lower end side of the motor 45 is arrange | positioned in the arrangement | positioning hole 12d. A pulley 49 as a third pulley is fixed to the output shaft of the motor 45. A pulley 50 as a second pulley is attached to the ball screw nut 47. The ball screw nut 47 and the pulley 50 are arranged coaxially. A belt 51 as a first belt is bridged between the pulley 49 and the pulley 50. A pulley 61 as a fourth pulley is attached to the spline nut 48. The spline nut 48 and the pulley 61 are arranged coaxially. A belt 52 as a second belt is bridged between the pulley 40 and the pulley 61.
　ボールネジナット４７およびスプラインナット４８は、略円筒状に形成される保持部材５３に回転可能に保持されている。ボールネジナット４７は、保持部材５３の上端側に回転可能に保持され、スプラインナット４８は、保持部材５３の下端側に回転可能に保持されている。保持部材５３の上端には、プレート５８が固定されており、このプレート５８の上面には、プレート５９が固定されている。プレート５９には、モータ４５の本体が固定されている。保持部材５３の下端は、第２アーム部１２の上面に、かつ、配置孔１２ｅの縁に固定されている。配置孔１２ｅの中には、プーリ６１等が配置されている。なお、ベルト５１の張力を調整するため、プレート５８に対するプレート５９の固定位置は調整可能となっている。 The ball screw nut 47 and the spline nut 48 are rotatably held by a holding member 53 formed in a substantially cylindrical shape. The ball screw nut 47 is rotatably held on the upper end side of the holding member 53, and the spline nut 48 is rotatably held on the lower end side of the holding member 53. A plate 58 is fixed to the upper end of the holding member 53, and a plate 59 is fixed to the upper surface of the plate 58. The main body of the motor 45 is fixed to the plate 59. The lower end of the holding member 53 is fixed to the upper surface of the second arm portion 12 and to the edge of the arrangement hole 12e. A pulley 61 and the like are arranged in the arrangement hole 12e. In order to adjust the tension of the belt 51, the fixing position of the plate 59 with respect to the plate 58 can be adjusted.
　ボールネジスプライン軸４６の下端には、エンドエフェクタが取り付けられている。また、ボールネジスプライン軸４６の下端側には、ベローズ５４の下端が固定されるベローズ固定部材５５が軸受を介して取り付けられている。ベローズ５４の上端は、カバー部材２１に取り付けられている。ボールネジスプライン軸４６の上端側には、ベローズ５６の上端が固定されるベローズ固定部材５７が軸受を介して取り付けられている。ベローズ５６の下端は、カバー部材２２に取り付けられている。 An end effector is attached to the lower end of the ball screw spline shaft 46. A bellows fixing member 55 to which the lower end of the bellows 54 is fixed is attached to the lower end side of the ball screw spline shaft 46 via a bearing. The upper end of the bellows 54 is attached to the cover member 21. A bellows fixing member 57 to which the upper end of the bellows 56 is fixed is attached to the upper end side of the ball screw spline shaft 46 via a bearing. The lower end of the bellows 56 is attached to the cover member 22.
　モータ駆動ユニット７では、モータ４５が回転すると、プーリ４９、５０およびベルト５１を介してモータ４５の動力がボールネジナット４７に伝達されてボールネジナット４７が回転し、ボールネジスプライン軸４６が昇降する。すなわち、ボールネジスプライン軸４６の下端に取り付けられたエンドエフェクタが昇降する。また、ボールネジスプライン軸４６が昇降すると、ベローズ５４、５６が伸縮する。本形態では、プーリ４９、５０、ベルト５１、ボールネジスプライン軸４６およびボールネジナット４７によって、モータ４５の動力を減速して伝達する減速機構６０が構成されている。また、本形態のモータ駆動ユニット７は、ボールネジスプライン４４とモータ４５とプーリ４９、５０、６１とベルト５１と保持部材５３とベローズ固定部材５５、５７とプレート５８、５９とから構成されている。 In the motor drive unit 7, when the motor 45 rotates, the power of the motor 45 is transmitted to the ball screw nut 47 via the pulleys 49 and 50 and the belt 51, the ball screw nut 47 rotates, and the ball screw spline shaft 46 moves up and down. That is, the end effector attached to the lower end of the ball screw spline shaft 46 moves up and down. Further, when the ball screw spline shaft 46 moves up and down, the bellows 54 and 56 expand and contract. In this embodiment, the pulleys 49 and 50, the belt 51, the ball screw spline shaft 46, and the ball screw nut 47 constitute a reduction mechanism 60 that reduces and transmits the power of the motor 45. The motor drive unit 7 of this embodiment includes a ball screw spline 44, a motor 45, pulleys 49, 50, 61, a belt 51, a holding member 53, bellows fixing members 55, 57, and plates 58, 59.
　また、モータ３５が回転すると、プーリ４０、６１およびベルト５２を介してモータ３５の動力がスプラインナット４８に伝達されてスプラインナット４８が回転し、ボールネジスプライン軸４６がその軸中心を中心にして回転する。すなわち、ボールネジスプライン軸４６の下端に取り付けられたエンドエフェクタが、ボールネジスプライン軸４６の軸中心を中心にして回転する。 When the motor 35 rotates, the power of the motor 35 is transmitted to the spline nut 48 via the pulleys 40 and 61 and the belt 52, the spline nut 48 rotates, and the ball screw spline shaft 46 rotates around the axis center. To do. That is, the end effector attached to the lower end of the ball screw spline shaft 46 rotates around the axis center of the ball screw spline shaft 46.
　なお、本形態では、モータ駆動ユニット４は、第１モータ駆動ユニットであり、モータ駆動ユニット５は、第２モータ駆動ユニットであり、モータ駆動ユニット６は、第３モータ駆動ユニットであり、モータ駆動ユニット７は、第４モータ駆動ユニットである。 In this embodiment, the motor drive unit 4 is a first motor drive unit, the motor drive unit 5 is a second motor drive unit, and the motor drive unit 6 is a third motor drive unit, which is a motor drive. Unit 7 is a fourth motor drive unit.
　（産業用ロボットの組立手順）
　以上のように構成されたロボット１は、たとえば、以下の手順で組み立てられる。すなわち、まず、モータ駆動ユニット４～７のそれぞれを個別に組み立てる。その後、モータ駆動ユニット４を本体部２に取り付け、モータ駆動ユニット５～７を第２アーム部１２に取り付ける。モータ駆動ユニット６、７を第２アーム部１２に取り付けた後には、プーリ４０とプーリ６１とにベルト５２を架け渡す。その後、本体部２に取り付けられているモータ駆動ユニット４に第１アーム部１１を取り付けるとともに、第２アーム部１２に取り付けられているモータ駆動ユニット５に第１アーム部１１を取り付ける。 (Industrial robot assembly procedure)
The robot 1 configured as described above is assembled in the following procedure, for example. That is, first, each of the motor drive units 4 to 7 is assembled individually. Thereafter, the motor drive unit 4 is attached to the main body 2, and the motor drive units 5 to 7 are attached to the second arm portion 12. After the motor drive units 6 and 7 are attached to the second arm portion 12, the belt 52 is bridged between the pulley 40 and the pulley 61. Thereafter, the first arm portion 11 is attached to the motor drive unit 4 attached to the main body portion 2, and the first arm portion 11 is attached to the motor drive unit 5 attached to the second arm portion 12.
　また、本体部２に配線ボックス１８を取り付けるとともに、カバー部材２１、２２およびベローズ５４、５６を取り付ける。また、フレキシブルチューブ２３の中に配置される配線を接続してから、フレキシブルチューブ２３の一端をカバー部材２２に取り付け、フレキシブルチューブ２３の他端を配線ボックス１８に取り付ける。 Further, the wiring box 18 is attached to the main body 2 and the cover members 21 and 22 and the bellows 54 and 56 are attached. Further, after connecting the wiring arranged in the flexible tube 23, one end of the flexible tube 23 is attached to the cover member 22, and the other end of the flexible tube 23 is attached to the wiring box 18.
　（本形態の主な効果）
　以上説明したように、本形態では、モータ駆動ユニット４は、本体部２および第１アーム部１１と別体で構成されており、本体部２および第１アーム部１１に着脱可能に取り付けられている。また、本形態では、モータ駆動ユニット５は、第１アーム部１１および第２アーム部１２と別体で構成されており、第１アーム部１１および第２アーム部１２に着脱可能に取り付けられている。さらに、本形態では、モータ駆動ユニット６、７は、第２アーム部１２と別体で構成されており、第２アーム部１２に着脱可能に取り付けられている。そのため、本形態では、モータ２５、３０、３５、４５、減速機２６、３１、３６または減速機構６０等が故障した場合に、モータ駆動ユニット４～７を取り換えることでロボット１の修理を行うことができる。したがって、本形態では、モータ２５、３０、３５、４５、減速機２６、３１、３６または減速機構６０等が故障した場合に、ロボット１を短時間で修理することが可能になる。また、本形態では、モータ２５、３０、３５、４５、減速機２６、３１、３６または減速機構６０等が故障した場合に、本体部２やアーム３を交換する必要がない。したがって、本形態では、モータ２５、３０、３５、４５、減速機２６、３１、３６または減速機構６０等が故障した場合に、ロボット１の修理を低コストで行うことが可能になる。 (Main effects of this form)
As described above, in this embodiment, the motor drive unit 4 is configured separately from the main body 2 and the first arm 11 and is detachably attached to the main body 2 and the first arm 11. Yes. In this embodiment, the motor drive unit 5 is configured separately from the first arm unit 11 and the second arm unit 12, and is detachably attached to the first arm unit 11 and the second arm unit 12. Yes. Furthermore, in this embodiment, the motor drive units 6 and 7 are configured separately from the second arm portion 12 and are detachably attached to the second arm portion 12. Therefore, in this embodiment, when the motor 25, 30, 35, 45, the speed reducer 26, 31, 36, the speed reduction mechanism 60, or the like fails, the robot 1 is repaired by replacing the motor drive units 4-7. Can do. Therefore, in this embodiment, when the motor 25, 30, 35, 45, the speed reducer 26, 31, 36, the speed reduction mechanism 60, or the like fails, the robot 1 can be repaired in a short time. In this embodiment, when the motors 25, 30, 35, 45, the speed reducers 26, 31, 36, the speed reduction mechanism 60, or the like fails, it is not necessary to replace the main body 2 or the arm 3. Therefore, in this embodiment, when the motors 25, 30, 35, 45, the speed reducers 26, 31, 36, the speed reduction mechanism 60, etc. break down, the robot 1 can be repaired at a low cost.
　特に本形態では、ロボット１が有する全てのモータ２５、３０、３５、４５と、全ての減速機２６、３１、３６と、減速機構６０とがモータ駆動ユニット４～７に組み込まれ、このモータ駆動ユニット４～７は、本体部２やアーム３に着脱可能に取り付けられている。そのため、どのモータ駆動ユニット４～７を構成するモータ２５、３０、３５、４５等が故障しても、ロボット１を短時間で、かつ、低コストで修理することが可能になる。 In particular, in this embodiment, all the motors 25, 30, 35, 45, all the reduction gears 26, 31, 36, and the reduction mechanism 60 that the robot 1 has are incorporated in the motor drive units 4 to 7, and this motor drive The units 4 to 7 are detachably attached to the main body 2 and the arm 3. Therefore, the robot 1 can be repaired in a short time and at a low cost even if any of the motors 25, 30, 35, 45, etc. constituting any of the motor drive units 4 to 7 breaks down.
　本形態では、第１アーム部１１に凹部１１ａ、１１ｄが形成され、減速機２６の出力部２８に凹部１１ａに係合する凸部２８ａが形成され、減速機３１の出力部３３に凹部１１ｄに係合する凸部３３ａが形成されている。また、本形態では、第２アーム部１２の配置孔１２ａの上端側に、モータ駆動ユニット５を位置決めするための段部１２ｂが形成されている。そのため、本形態では、モータ駆動ユニット４、５をアーム３に対して容易に位置決めすることが可能になる。したがって、本形態では、モータ駆動ユニット４を構成するモータ２５等やモータ駆動ユニット５を構成するモータ３０等が故障した場合に、より短時間でロボット１の修理を行うことが可能になる。また、本形態では、ロボット１の組立時に、モータ駆動ユニット４、５を短時間でアーム３に取り付けることが可能になる。 In this embodiment, the first arm portion 11 is formed with recesses 11a and 11d, the output portion 28 of the speed reducer 26 is formed with a convex portion 28a that engages with the recess 11a, and the output portion 33 of the speed reducer 31 is formed with the recess 11d. An engaging projection 33a is formed. In this embodiment, a step portion 12b for positioning the motor drive unit 5 is formed on the upper end side of the arrangement hole 12a of the second arm portion 12. Therefore, in this embodiment, the motor drive units 4 and 5 can be easily positioned with respect to the arm 3. Therefore, in this embodiment, when the motor 25 or the like constituting the motor drive unit 4 or the motor 30 or the like constituting the motor drive unit 5 breaks down, the robot 1 can be repaired in a shorter time. Further, in this embodiment, when the robot 1 is assembled, the motor drive units 4 and 5 can be attached to the arm 3 in a short time.
　本形態では、フレキシブルチューブ２３の一端はカバー部材２２に着脱可能に取り付けられ、フレキシブルチューブ２３の他端は配線ボックス１８に着脱可能に取り付けられている。また、本形態では、フレキシブルチューブ２３の中に配置される配線の一端は、モータ３０、３５、４５等にコネクタを介して着脱可能に接続され、この配線の他端は、配線ボックス１８内に配置される基板や所定の配線にコネクタを介して着脱可能に接続されている。そのため、本形態では、フレキシブルチューブ２３の中に配置される配線が故障した場合に、フレキブルチューブ２３と一緒にカバー部材２２および配線ボックス１８から配線を取り外して、故障した配線のみを交換することが可能になる。また、モータ駆動ユニット５～７を交換する際には、フレキシブルチューブ２３の一端をカバー部材２２から取り外して、フレキシブルチューブ２３の中に配置される配線の一端とモータ３０、３５、４５等とをコネクタ部分で着脱すれば良いため、モータ駆動ユニット５～７の交換作業が容易になる。 In this embodiment, one end of the flexible tube 23 is detachably attached to the cover member 22, and the other end of the flexible tube 23 is detachably attached to the wiring box 18. In this embodiment, one end of the wiring arranged in the flexible tube 23 is detachably connected to the motors 30, 35, 45, etc. via connectors, and the other end of this wiring is connected to the wiring box 18. It is detachably connected to a substrate to be arranged and predetermined wiring via a connector. Therefore, in this embodiment, when the wiring arranged in the flexible tube 23 fails, the wiring is removed from the cover member 22 and the wiring box 18 together with the flexible tube 23 and only the failed wiring is replaced. Is possible. When exchanging the motor drive units 5 to 7, one end of the flexible tube 23 is removed from the cover member 22, and one end of the wiring arranged in the flexible tube 23 is connected to the motor 30, 35, 45, etc. Since it suffices to attach and detach the connector portion, the motor drive units 5 to 7 can be easily replaced.
　（他の実施の形態）
　上述した形態は、本発明の好適な形態の一例ではあるが、これに限定されるものではなく本発明の要旨を変更しない範囲において種々変形実施が可能である。 (Other embodiments)
The above-described embodiment is an example of a preferred embodiment of the present invention, but is not limited to this, and various modifications can be made without departing from the scope of the present invention.
　上述した形態では、ロボット１が有する全てのモータ２５、３０、３５、４５と、全ての減速機２６、３１、３６と、減速機構６０とがモータ駆動ユニット４～７に組み込まれている。この他にもたとえば、モータ２５、３０、３５、４５や、減速機２６、３１、３６、減速機構６０の中に、モータ駆動ユニット４～７に組み込まれずに、本体部２やアーム３に直接、組み込まれるものがあっても良い。 In the embodiment described above, all the motors 25, 30, 35, 45, all the reduction gears 26, 31, 36, and the reduction mechanism 60 included in the robot 1 are incorporated in the motor drive units 4-7. In addition to this, for example, the motors 25, 30, 35, 45, the speed reducers 26, 31, 36, and the speed reduction mechanism 60 are not incorporated into the motor drive units 4 to 7 but directly to the main body 2 or the arm 3. , There may be something built in.
　上述した形態では、アーム３は、第１アーム部１１と第２アーム部１２との２個のアーム部によって構成されているが、アーム３は、３個以上のアーム部によって構成されても良い。また、上述した形態では、ロボット１は、水平多関節ロボットであるが、本発明が適用されるロボットは、水平多関節ロボット以外のロボットであっても良い。 In the embodiment described above, the arm 3 is constituted by two arm parts, the first arm part 11 and the second arm part 12, but the arm 3 may be constituted by three or more arm parts. . In the above-described embodiment, the robot 1 is a horizontal articulated robot, but the robot to which the present invention is applied may be a robot other than the horizontal articulated robot.
　１　ロボット（産業用ロボット）
　２　本体部
　３　アーム
　４　モータ駆動ユニット（第１モータ駆動ユニット）
　５　モータ駆動ユニット（第２モータ駆動ユニット）
　６　モータ駆動ユニット（第３モータ駆動ユニット）
　７　モータ駆動ユニット（第４モータ駆動ユニット）
　１１　第１アーム部
　１１ａ　凹部（第１凹部）
　１１ｄ　凹部（第２凹部）
　１２　第２アーム部
　１２ａ　配置孔
　１２ｂ　段部
　１８　配線ボックス
　２２　カバー部材
　２３　フレキシブルチューブ
　２５、３０、３５、４５　モータ
　２６、３１、３６　減速機（減速機構）
　３７　入力部
　４０　プーリ（第１プーリ）
　４４　ボールネジスプライン
　４７　ボールネジナット
　４８　スプラインナット
　４９　プーリ（第３プーリ）
　５０　プーリ（第２プーリ）
　５１　ベルト（第１ベルト）
　５２　ベルト（第２ベルト）
　６０　減速機構
　６１　プーリ（第４プーリ） 1 Robot (industrial robot)
2 Body 3 Arm 4 Motor drive unit (first motor drive unit)
5 Motor drive unit (second motor drive unit)
6 Motor drive unit (3rd motor drive unit)
7 Motor drive unit (4th motor drive unit)
11 1st arm part 11a Recessed part (1st recessed part)
11d recess (second recess)
12 Second arm portion 12a Arrangement hole 12b Step portion 18 Wiring box 22 Cover member 23 Flexible tube 25, 30, 35, 45 Motor 26, 31, 36 Reduction gear (deceleration mechanism)
37 Input section 40 Pulley (first pulley)
44 Ball screw spline 47 Ball screw nut 48 Spline nut 49 Pulley (third pulley)
50 pulley (second pulley)
51 belt (first belt)
52 belt (second belt)
60 Deceleration mechanism 61 Pulley (4th pulley)

Claims (7)

  1. 　本体部と、前記本体部にその基端側が回動可能に連結されるアームとを有する産業用ロボットにおいて、
    　モータと前記モータの動力を減速して伝達する減速機構とを有し前記産業用ロボットを動作させるモータ駆動ユニットを備え、
    　前記モータ駆動ユニットは、前記アームと別体で構成され、前記アームに着脱可能に取り付けられていることを特徴とする産業用ロボット。     In an industrial robot having a main body part and an arm whose base end side is rotatably connected to the main body part,
    A motor drive unit for operating the industrial robot having a motor and a speed reduction mechanism for decelerating and transmitting the power of the motor;
    The industrial robot characterized in that the motor drive unit is configured separately from the arm and is detachably attached to the arm.
  2. 　前記本体部にその基端側が回動可能に連結される第１アーム部と前記第１アーム部の先端側にその基端側が回動可能に連結される第２アーム部とを有する前記アームを備えるとともに、
    　前記モータ駆動ユニットとして、前記本体部に対して前記第１アーム部を回動させるための第１モータ駆動ユニットと、前記第１アーム部に対して前記第２アーム部を回動させるための第２モータ駆動ユニットと、前記第２アーム部の先端側に配置されるエンドエフェクタを前記第２アーム部に対して回転させるための第３モータ駆動ユニットと、前記第２アーム部に対して前記エンドエフェクタを昇降させるための第４モータ駆動ユニットとを備えることを特徴とする請求項１記載の産業用ロボット。     The arm having a first arm portion whose base end side is rotatably connected to the main body portion and a second arm portion whose base end side is rotatably connected to a distal end side of the first arm portion. As well as
    As the motor drive unit, a first motor drive unit for rotating the first arm portion with respect to the main body portion, and a first motor for rotating the second arm portion with respect to the first arm portion. A second motor drive unit, a third motor drive unit for rotating an end effector disposed on the distal end side of the second arm portion relative to the second arm portion, and the end relative to the second arm portion The industrial robot according to claim 1, further comprising a fourth motor drive unit for raising and lowering the effector.
  3. 　前記第１モータ駆動ユニットは、前記第１アーム部および前記本体部に着脱可能に取り付けられ、
    　前記第２モータ駆動ユニットは、前記第１アーム部および前記第２アーム部に着脱可能に取り付けられ、
    　前記第３モータ駆動ユニットおよび前記第４モータ駆動ユニットは、前記第２アーム部に着脱可能に取り付けられていることを特徴とする請求項２記載の産業用ロボット。     The first motor drive unit is detachably attached to the first arm part and the main body part,
    The second motor drive unit is detachably attached to the first arm portion and the second arm portion,
    The industrial robot according to claim 2, wherein the third motor driving unit and the fourth motor driving unit are detachably attached to the second arm portion.
  4. 　前記第１アーム部には、前記第１モータ駆動ユニットを位置決めするための第１凹部と、前記第２モータ駆動ユニットを位置決めするための第２凹部とが形成され、
    　前記第２アーム部には、前記第２モータ駆動ユニットの一部が配置される配置孔が形成され、
    　前記配置孔には、前記第２モータ駆動ユニットを位置決めするための段部が形成されていることを特徴とする請求項３記載の産業用ロボット。     A first recess for positioning the first motor drive unit and a second recess for positioning the second motor drive unit are formed in the first arm portion,
    An arrangement hole in which a part of the second motor drive unit is arranged is formed in the second arm portion,
    The industrial robot according to claim 3, wherein a step portion for positioning the second motor drive unit is formed in the arrangement hole.
  5. 　前記第３モータ駆動ユニットは、前記減速機構として、前記モータの動力が入力される入力部と、前記入力部と同軸上に配置され前記入力部から入力された動力が減速されて出力される出力部とを有する減速機を備えるとともに、前記出力部に取り付けられる第１プーリを備えることを特徴とする請求項２から４のいずれかに記載の産業用ロボット。 The third motor drive unit, as the speed reduction mechanism, is an input unit to which the power of the motor is input, and an output that is disposed coaxially with the input unit and that is decelerated and output from the input unit. The industrial robot according to any one of claims 2 to 4, further comprising a first pulley attached to the output unit.
  6. 　前記第４モータ駆動ユニットは、前記エンドエフェクタが取り付けられるボールネジスプラインと、前記ボールネジスプラインのボールネジナットに取り付けられる第２プーリと、前記モータの出力軸に取り付けられる第３プーリと、前記第２プーリと前記第３プーリとに架け渡される第１ベルトと、前記ボールネジスプラインのスプラインナットに取り付けられる第４プーリとを備え、
    　前記第１プーリと前記第４プーリとには、第２ベルトが架け渡されていることを特徴とする請求項５記載の産業用ロボット。     The fourth motor drive unit includes a ball screw spline to which the end effector is attached, a second pulley attached to a ball screw nut of the ball screw spline, a third pulley attached to the output shaft of the motor, and the second pulley. A first belt that spans the third pulley, and a fourth pulley that is attached to a spline nut of the ball screw spline,
    The industrial robot according to claim 5, wherein a second belt is bridged between the first pulley and the fourth pulley.
  7. 　前記第２アーム部に取り付けられる前記第２モータ駆動ユニット、前記第３モータ駆動ユニットおよび前記第４モータ駆動ユニットを覆うカバー部材と、前記本体部に固定される配線ボックスと、前記カバー部材に一端が着脱可能に取り付けられ前記配線ボックスに他端が着脱可能に取り付けられるフレキシブルチューブと、前記フレキシブルチューブの中に配置される配線とを備えることを特徴とする請求項３または４記載の産業用ロボット。 A cover member covering the second motor drive unit, the third motor drive unit, and the fourth motor drive unit attached to the second arm portion; a wiring box fixed to the main body portion; 5. The industrial robot according to claim 3, further comprising: a flexible tube detachably attached to the wiring box, and a wire disposed in the flexible tube, the other end being detachably attached to the wiring box. .
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