WO2021193242A1 - Robot and method for attaching cooling device to robot - Google Patents

Robot and method for attaching cooling device to robot Download PDF

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Publication number
WO2021193242A1
WO2021193242A1 PCT/JP2021/010631 JP2021010631W WO2021193242A1 WO 2021193242 A1 WO2021193242 A1 WO 2021193242A1 JP 2021010631 W JP2021010631 W JP 2021010631W WO 2021193242 A1 WO2021193242 A1 WO 2021193242A1
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WO
WIPO (PCT)
Prior art keywords
flow path
cooling medium
robot
link
radiator
Prior art date
Application number
PCT/JP2021/010631
Other languages
French (fr)
Japanese (ja)
Inventor
宏昭 納土
竜馬 是竹
Original Assignee
川崎重工業株式会社
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Filing date
Publication date
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Publication of WO2021193242A1 publication Critical patent/WO2021193242A1/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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25D—REFRIGERATORS; COLD ROOMS; ICE-BOXES; COOLING OR FREEZING APPARATUS NOT OTHERWISE PROVIDED FOR
    • F25D9/00—Devices not associated with refrigerating machinery and not covered by groups F25D1/00 - F25D7/00; Combinations of devices covered by two or more of the groups F25D1/00 - F25D7/00
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K9/00—Arrangements for cooling or ventilating
    • H02K9/19—Arrangements for cooling or ventilating for machines with closed casing and closed-circuit cooling using a liquid cooling medium, e.g. oil
    • H—ELECTRICITY
    • H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
    • H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
    • H05K7/00—Constructional details common to different types of electric apparatus
    • H05K7/20—Modifications to facilitate cooling, ventilating, or heating

Definitions

  • the present invention relates to a method of attaching a robot and a cooling device to a robot.
  • the present invention solves the above-mentioned conventional problems, and provides a robot and a method for attaching a cooling device to a robot, which can reduce the burden on an operator and improve the efficiency of the attachment work of the cooling device.
  • the purpose is.
  • the robot according to the present invention includes an Nth link, an N + 1 link, a joint portion formed between the Nth link and the N + 1 link, and the joint.
  • the motor is arranged on the first wall surface, which is the wall surface on the Nth link side of the first partition wall that includes the cooling device arranged in the section and constitutes the Nth link.
  • a speed reducing device is arranged on the second wall surface, which is the wall surface on the N + 1 link side of the partition wall, and the cooling device is formed in an annular shape or a tubular shape, and a cooling medium through which the cooling medium passes through the cooling medium.
  • It has a cooling medium flow path body in which a flow path is formed, a cooling medium circulation flow path connected to the cooling medium flow path body, a radiator, a transmitter, and a fan, and includes the radiator and the fan.
  • the transmitter is provided in the middle of the cooling medium circulation flow path
  • the fan is configured to air-cool the radiator
  • the cooling medium flow path body surrounds the motor. 1 It is arranged on the wall surface.
  • the cooling medium flow path body can be easily attached to the existing robot, the burden on the operator is reduced, and the efficiency of the installation work of the cooling device (cooling medium flow path body) is improved. Can be done.
  • the cooling medium flow path body is arranged so as to cover the outer peripheral surface of the motor, the motor can be cooled efficiently. Further, since the speed reducer is arranged on the N + 1 link side of the first partition wall, the speed reducer can be efficiently cooled by heat transfer from the first partition wall. Therefore, since both the motor and the speed reducer can be cooled, the manufacturing cost can be reduced as compared with the articulated robot disclosed in Patent Document 1.
  • the joint portion of the robot has a first partition wall forming the Nth link and a second partition wall forming the N + 1 link, and the first partition wall is formed.
  • a tubular protruding portion is formed on the first wall surface, which is the wall surface on the Nth link side of the above, and the motor is arranged so as to be located inside the protruding portion.
  • a speed reducing device is arranged on the second wall surface, which is the wall surface on the N + 1 link side of the partition wall, and the cooling device is formed in an annular shape or a tubular shape, and a cooling medium flows through the cooling device.
  • a cooling medium flow path body in which a medium flow path is formed, a cooling medium circulation flow path connected to the cooling medium flow path body, a radiator, a transmitter, a fan, and a base are provided.
  • the radiator and the transmitter are provided in the middle of the cooling medium circulation flow path, and the fan is configured to air-cool the radiator.
  • the cooling device can be easily attached to the existing robot, the burden on the operator can be reduced, and the efficiency of the cooling device installation work can be improved.
  • the cooling medium flow path body is arranged so as to cover the outer peripheral surface of the motor, the motor can be cooled efficiently. Further, since the speed reducer is arranged on the N + 1 link side of the first partition wall, the speed reducer can be efficiently cooled by heat transfer from the first partition wall. Therefore, since both the motor and the speed reducer can be cooled, the manufacturing cost can be reduced as compared with the articulated robot disclosed in Patent Document 1.
  • the joint portion of the robot has a first partition wall forming the Nth link and a second partition wall forming the N + 1 link, and the first partition wall is formed.
  • a tubular protruding portion is formed on the first wall surface, which is the wall surface on the Nth link side of the above, and the motor is arranged so as to be located inside the protruding portion.
  • a speed reducing device is arranged on the second wall surface, which is the wall surface on the N + 1 link side of the partition wall, and the cooling device is formed in an annular shape or a tubular shape, and a cooling medium flows through the cooling device.
  • a cooling medium flow path body in which a medium flow path is formed, a cooling medium circulation flow path connected to the cooling medium flow path body, a radiator, a transmitter, a fan, and a base are provided.
  • the radiator and the transmitter are provided in the middle of the cooling medium circulation flow path, the fan is configured to air-cool the radiator, and the internal space of the cooling medium flow path body is the said.
  • the cooling device can be easily attached to the existing robot, the burden on the operator can be reduced, and the efficiency of the cooling device installation work can be improved.
  • the cooling medium flow path body is arranged so as to cover the outer peripheral surface of the motor, the motor can be cooled efficiently. Further, since the reduction gear is arranged on the N + 1 link side of the first partition wall, the reduction gear can be efficiently cooled by the heat transfer from the first partition wall. Therefore, since both the motor and the speed reducer can be cooled, the manufacturing cost can be reduced as compared with the articulated robot disclosed in Patent Document 1.
  • the burden on the operator can be reduced, the efficiency of the mounting work of the cooling device can be improved, and / or the manufacturing cost can be reduced. Can be reduced.
  • FIG. 1 is a schematic diagram showing a schematic configuration of a robot according to the first embodiment.
  • FIG. 2 is a schematic view showing a schematic configuration of a joint portion (second joint) of the robot shown in FIG.
  • FIG. 3 is a schematic view showing a schematic configuration of a cooling medium flow path body of the cooling device shown in FIG.
  • FIG. 4 is a flowchart showing an example of a method of attaching the cooling device according to the first embodiment.
  • FIG. 5 is a schematic diagram showing a schematic configuration of the robot of the modified example 1 in the first embodiment.
  • FIG. 6 is a flowchart showing an example of a method of attaching the cooling device according to the second embodiment.
  • the robot according to the first embodiment includes an N-link, an N + 1 link, a joint formed between the N-link and the N + 1 link, a cooling device arranged at the joint, and a cooling device.
  • a second wall surface which is a wall surface on the N + 1 link side of the first partition wall, is provided with a motor and is arranged on the first wall surface, which is the wall surface on the Nth link side of the first partition wall forming the Nth link.
  • a cooling medium flow path body in which a speed reducer is arranged, the cooling device is formed in an annular shape or a tubular shape, and a cooling medium flow path through which the cooling medium passes is formed therein.
  • It has a cooling medium circulation flow path connected to the cooling medium flow path body, a radiator, a transmitter, and a fan, and the radiator and the transmitter are provided in the middle of the cooling medium circulation flow path.
  • the fan is configured to air-cool the radiator, and the cooling medium flow path body is arranged on the first wall surface so as to surround the motor.
  • N is a natural number excluding 0.
  • a protrusion is provided on the first wall surface of the first partition wall.
  • the cooling medium flow path body may be configured such that the outer peripheral surface is located inward of the inner peripheral surface of the protruding portion and the inner peripheral surface is located outside of the outer peripheral surface of the motor.
  • the protruding portion may be formed in a cylindrical shape.
  • the cooling device is the robot. It may be arranged on at least one of the first to third axes.
  • a heat transfer agent may be arranged between the cooling medium flow path body and the first wall surface.
  • the cooling medium circulation flow path may be arranged in the Nth link.
  • the method of attaching the cooling device to the robot according to the first embodiment is the method of attaching the cooling device used for the joint portion of the robot, and the joint portion of the robot is the first partition wall constituting the Nth link.
  • the first wall surface which is the wall surface on the N link side of the first partition wall, has a second partition wall forming the N + 1 link, and a tubular protrusion is formed on the first wall surface, and the motor is a protrusion.
  • a speed reducer is arranged on the second wall surface, which is arranged so as to be located inward and is the wall surface on the N + 1 link side of the first partition wall, and the cooling device is formed in an annular shape or a tubular shape.
  • the fan and the base are provided, the radiator and the transmitter are provided in the middle of the cooling medium circulation flow path, and the fan is configured to air-cool the radiator, and the radiator and the transmitter are provided on the base.
  • the internal space of the cooling medium flow path body allows the motor to pass through, and the cooling medium flow path body is brought into contact with the first wall surface of the first partition wall (B).
  • the base to which the radiator, the transmitter, and the fan are attached is attached to the main body and / or the motor (C)
  • the cooling medium flow path body, the radiator, and the transmitter are connected by the cooling medium circulation flow path ( D) and.
  • FIG. 1 is a schematic diagram showing a schematic configuration of a robot according to the first embodiment.
  • the vertical direction in the robot is represented as the vertical direction in the figure.
  • the robot 101 includes an articulated body of a plurality of links (here, the first link 11a to the sixth link 11f) and a plurality of joint portions (here, the first link). It is a vertical articulated robot arm including joints JT1 to 6), a base 15 for supporting them, and a control device 111.
  • a 6-axis vertical articulated robot is adopted as the robot 101, but the robot is not limited to this, and if it is a vertical articulated robot, a 7-axis vertical articulated robot is used. It may be.
  • the base 15 and the base end portion of the first link 11a are rotatably connected around an axis extending in the vertical direction.
  • the tip end portion of the first link 11a and the base end portion of the second link 11b are rotatably connected around an axis extending in the horizontal direction.
  • the tip end portion of the second link 11b and the base end portion of the third link 11c are rotatably connected around an axis extending in the horizontal direction.
  • the tip end portion of the third link 11c and the base end portion of the fourth link 11d are rotatably connected around an axis extending in the longitudinal direction of the fourth link 11d.
  • the tip end portion of the fourth link 11d and the base end portion of the fifth link 11e are rotatably connected around an axis orthogonal to the longitudinal direction of the fourth link 11d.
  • the tip end portion of the fifth link 11e and the base end portion of the sixth link 11f are rotatably connected to each other.
  • a mechanical interface is provided at the tip of the 6th link 11f.
  • An end effector 20 corresponding to the work content is detachably attached to this mechanical interface.
  • each of the first joint JT1 to the sixth joint JT6 is provided with a motor as an example of an actuator that relatively rotates two members to which each joint is connected (see FIG. 2).
  • the motor may be, for example, a servomotor that is servo-controlled by the control device 111.
  • each of the first joint JT1 to the sixth joint JT6 is provided with a rotation sensor for detecting the rotation position of the drive motor and a current sensor for detecting the current for controlling the rotation of the drive motor (each of them). , Not shown).
  • the rotation sensor may be, for example, an encoder.
  • the control device 111 is arranged outside the base 15 (robot 101).
  • the control device 111 may be arranged in the base 15 (robot 101).
  • the control device 111 includes an arithmetic processor 111a such as a microprocessor and a CPU, and a storage device 111b such as a ROM and RAM. Information such as a basic program and various fixed data is stored in the storage device 111b.
  • the arithmetic processing unit 111a is configured to execute various operations of the robot 101 by reading and executing software such as a basic program stored in the storage unit 111b.
  • control device 111 may be configured to control the transmitter 75 and / or the fan 76 of the cooling device 70 described later. In this case, the control device 111 may control the transmitter 75 and / or the fan 76 so as to increase or decrease the current flowing through the motors arranged at each joint.
  • control device 111 may be controlled to increase the transmission amount of the transmitter 75 when increasing the current flowing through the motor, and / or the operation amount (rotation) of the fan 76. It may be controlled to increase the speed). Further, when the current flowing through the motor is reduced, the control device 111 may be controlled so as to reduce the transmission amount of the transmitter 75 and / or the operation amount (rotational speed) of the fan 76. It may be controlled to decrease.
  • the control device 111 may be configured by a single control device that centrally controls, or may be configured by a plurality of control devices that cooperate with each other to perform distributed control. Further, the control device 111 may be composed of a microcomputer, an MPU, a PLC (Programmable Logic Controller), a logic circuit, or the like.
  • a microcomputer an MPU, a PLC (Programmable Logic Controller), a logic circuit, or the like.
  • FIG. 2 is a schematic diagram showing a schematic configuration of a joint portion (second joint JT2) of the robot shown in FIG.
  • the first link 11a and the second link 11b are connected.
  • the first link 11a has a main body 31.
  • a plate-shaped first partition wall 31a is formed on the main body 31.
  • the second link 11b has a second partition wall 42.
  • the first partition wall 31a is provided with a through hole 31b.
  • the main body 31 is arranged so that the through hole 31b communicates with the recess 40 provided in the second link 11b.
  • the wall surface of the first partition wall 31a on the second link 11b side is referred to as the second wall surface 2
  • the wall surface on the opposite side of the second wall surface 2 (first link 11a side) is referred to as the first wall surface 1.
  • a cylindrical protrusion 31c is provided on the first wall surface 1 of the first partition wall 31a. Further, a motor 50 is arranged on the first wall surface 1 so as to be located inside the protruding portion 31c and so that the output shaft 51 inserts the through hole 31b.
  • a speed reducing device 60 arranged in the recess 40 is connected to the output shaft 51 of the motor 50. The speed reducer 60 is connected to the second link 11b. As the speed reducer 60, various known speed reducers can be used.
  • the cooling medium flow path body 71 is arranged so as to surround the outer peripheral surface 5 of the motor 50.
  • the heat transfer agent 72 may be arranged between the first wall surface 1 and the cooling medium flow path body 71.
  • the heat transfer agent 72 may be, for example, thermal paste (heat conductive grease) or silicon for heat dissipation.
  • FIG. 3 is a schematic view showing a schematic configuration of a cooling medium flow path body of the cooling device shown in FIG.
  • the vertical direction in the cooling medium flow path body is represented as the vertical direction in the figure.
  • the cooling medium flow path body 71 is formed in an annular shape or a cylindrical shape.
  • the outer peripheral surface 7a of the cooling medium flow path body 71 is located inward of the inner peripheral surface 3 of the protruding portion 31c, and the inner peripheral surface 7b is located outside of the outer peripheral surface 5 of the motor 50. ,It is configured.
  • the operator can easily insert the cooling medium flow path body 71 into the cylindrical space between the protrusion 31c and the motor 50.
  • a cooling medium flow path 71a is formed inside the cooling medium flow path body 71.
  • the cooling medium flow path 71a is formed in a substantially C shape (circling) when viewed from the axial direction of the output shaft 51 of the motor 50. Further, the cooling medium flow path 71a is formed so as to meander in the region between the outer peripheral surface 7a and the inner peripheral surface 7b.
  • cooling medium flow path 71a (lower end in FIG. 3) constitutes the inlet (supply port) 71b of the cooling medium, and the other end (upper end in FIG. 3). Section) constitutes the outlet (discharge port) 71c of the cooling medium. Further, the inlet 71b and the outlet 71c are connected by a cooling medium circulation flow path 73.
  • the cooling medium passing through the cooling medium flow path 71a and the cooling medium circulation flow path 73 may be, for example, water, an aqueous solution, or an antifreeze solution (ethylene glycol, glycerin, long life coolant (LLC)).
  • an antifreeze solution ethylene glycol, glycerin, long life coolant (LLC)
  • a radiator 74 and a transmitter (pump) 75 are provided in the middle of the cooling medium circulation flow path 73. Further, the radiator 74 is provided with a fan 76 for cooling the radiator 74. The radiator 74 may be provided with a tank 78 via the first flow path 77.
  • the transmitter 75 may be provided on the downstream side of the radiator 74. Further, from the viewpoint of improving the cooling efficiency of the cooling device 70, the transmitter 75 may be arranged on the upstream side of the radiator 74.
  • radiator 74, the transmitter 75, and the tank 78 are attached to a substantially L-shaped base 79.
  • the base 79 is connected (fixed) to a flange 80 provided on the motor 50.
  • FIG. 4 is a flowchart showing an example of a method of attaching the cooling device according to the first embodiment.
  • cooling device 70 according to the first embodiment is not attached to the robot arranged in the existing equipment or the like, and the work of attaching the cooling device 70 to the robot will be described below.
  • the operator attaches the radiator 74, the transmitter 75, and the tank 78 to the base 79 (step S101).
  • the operator attaches the cooling medium flow path body 71 to the first wall surface 1 of the first partition wall 31a (step S102). Specifically, the operator moves the cooling medium flow path body 71 so that the internal space of the cooling medium flow path body 71 inserts the motor 50, and moves the cooling medium flow path body 71 of the first partition wall 31a. It is brought into contact with the first wall surface 1. Then, the operator attaches (fixes) the cooling medium flow path body 71 to the first wall surface 1 with an appropriate member (for example, a bolt or the like). At this time, the operator arranges the heat transfer agent 72 on the contact surface of the cooling medium flow path body 71 with the first wall surface 1 and / or on the contact surface of the first wall surface 1 with the cooling medium flow path body 71. You may.
  • step S101 and the operation of step S102 are in no particular order.
  • step S101 step S103
  • step S104 the operator connects the tank 78 and the radiator 74 by the pipes constituting the first flow path 77.
  • the operator supplies the cooling medium to the tank 78 and the like, and finishes the work of attaching the cooling device 70 to the robot 101.
  • the cooling medium flow path body 71 according to the first embodiment, which is configured in this way, is formed in a cylindrical shape or an annular shape.
  • the motor 50 can be attached to the first wall surface 1 of the first partition wall 31a simply by inserting the motor 50 into the internal space.
  • the cooling medium flow path body 71 (cooling device 70) according to the first embodiment, can be attached to the joint portion only by removing the cover member 32. .. That is, it is not necessary to remove (disassemble) the Nth link (main body 31 of the first link 11a) and the N + 1 link in order to attach the cooling medium flow path body 71 (cooling device 70) to the joint portion.
  • the worker can easily execute the work of attaching the cooling medium flow path body 71 (cooling device 70) to the existing robot (for example, a robot installed in a factory or the like).
  • the cooling medium flow path body 71 since the cooling medium flow path body 71 according to the first embodiment is arranged outside the motor 50, the motor 50 can be cooled. Further, since the speed reducing device 60 is arranged so as to come into contact with the second wall surface 2 of the first partition wall 31a, the cooling medium flow path body 71 also cools the speed reducing device 60 by heat transfer from the first partition wall 31a. can do.
  • the cooling medium flow path body 71 (cooling device 70) according to the first embodiment needs to be provided with cooling members for cooling each of the motor 50 and the speed reducing device 60, which is disclosed in Patent Document 1.
  • the manufacturing cost can be reduced as compared with the articulated robots that have been used.
  • the cooling device 70 includes a radiator 74 for cooling the heated cooling medium, and a flow path (cooling medium flow path 71a and cooling medium circulation) in the joint portion of the robot 101.
  • the flow path 73) is configured to circulate.
  • the robot 101 can be made compact, and the cooling device 70 can be compared with the existing robot. The installation work can be facilitated.
  • the cooling device 70 can be installed on the robot 101 as factory equipment without installing a storage tank for piping and / or a cooling medium. Therefore, the cost for attaching the cooling device 70 to the robot 101 can be reduced.
  • the robot 101 provided with the cooling medium flow path body 71 (cooling device 70) according to the first embodiment has better cooling efficiency and higher cooling efficiency than the articulated robot disclosed in Patent Document 1. , The manufacturing cost can be reduced.
  • the robot 101 according to the first embodiment may have a cover member that covers the cooling device 70.
  • a motor is arranged on the first partition wall constituting the Nth link, and a base is attached to the Nth link.
  • FIG. 5 is a schematic diagram showing a schematic configuration of the robot of the modified example 1 in the first embodiment.
  • the robot 101 of the present modification 1 has the same basic configuration as the robot system 100 according to the first embodiment, but the base 79 and the flange 80 have the first link 11a (here, the first link 11a). , The difference is that it is attached to the protruding portion 31c).
  • the method of attaching the cooling device to the robot according to the second embodiment is a method of attaching the cooling device used for the joint portion of the robot, and the joint portion of the robot includes the first partition wall and the first partition wall constituting the Nth link.
  • the first wall surface which has the second partition wall forming the N + 1 link and is the wall surface on the N link side of the first partition wall, has a tubular protrusion formed and the motor is inside the protrusion.
  • a speed reducing device is arranged on the second wall surface, which is a wall surface on the N + 1 link side of the first partition wall, and the cooling device is formed in an annular shape or a tubular shape.
  • a cooling medium flow path body through which a cooling medium flows is formed inside, a cooling medium circulation flow path connected to the cooling medium flow path body, a radiator, a transmitter, and a fan.
  • the radiator and the transmitter are provided in the middle of the cooling medium circulation flow path, and the fan is configured to air-cool the radiator, and the internal space of the cooling medium flow path body is provided.
  • the cooling medium flow path body is brought into contact with the first wall surface of the first partition wall (E)
  • the base is attached to the main body and / or the motor (F). It includes (G) attaching a radiator, a transmitter, and a fan to the table, and (H) connecting the cooling medium flow path body, the radiator, and the transmitter with a cooling medium circulation flow path.
  • the cooling medium flow path body, the cooling device, and the robot used in the method of attaching the cooling device according to the second embodiment to the robot are the same as the robot according to the first embodiment or the robot of the modified example 1. Since it is configured in, detailed description thereof will be omitted.
  • FIG. 6 is a flowchart showing an example of a method of attaching the cooling device according to the second embodiment.
  • cooling device 70 according to the second embodiment is not attached to the robot arranged in the existing equipment or the like, and the work of attaching the cooling device 70 to the robot will be described below.
  • step S201 the operator attaches the base 79 to the flange 80 (step S201). Then, the operator attaches the cooling medium flow path body 71 to the first wall surface 1 of the first partition wall 31a (step S202).
  • step S201 and the operation of step S202 are in no particular order.
  • the operator attaches the radiator 74, the transmitter 75, and the tank 78 to the base 79 (step S203).
  • the operator connects the cooling medium flow path body 71 (inlet 71b and outlet 71c of the cooling medium flow path 71a), the radiator 74, and the transmitter 75 by the piping constituting the cooling medium circulation flow path 73 (step).
  • the operator connects the tank 78 and the radiator 74 by the pipes constituting the first flow path 77.
  • the operator supplies the cooling medium to the tank 78 and the like, and finishes the work of attaching the cooling device 70 to the robot 101.
  • the robot 101 (cooling device 70) according to the second embodiment which is configured in this way, has the same effect as the robot 101 (cooling device 70) according to the first embodiment.
  • the method of attaching the robot and the cooling device to the robot of the present invention it is possible to reduce the burden on the operator, improve the efficiency of the attaching work of the cooling device, and / or reduce the manufacturing cost. Because it can be done, it is useful in the field of robots.

Abstract

The robot according to the present invention comprises: an N link; an N+1 link; a joint part formed between the N link and the N+1 link; and a cooling device (70) placed on the joint part. The cooling device (70) has: a cooling medium flow path body (71) formed annularly or cylindrically and having a cooling medium flow path (71a) formed therein through which a cooling medium flows; a cooling medium circulation flow path (73) connected to the cooling medium flow path body (71); a radiator (74); a delivery device (75); and a fan (76). The radiator (74) and the delivery device (75) are provided along the cooling medium circulation flow path (73). The fan (76) is configured to air-cool the radiator (74). The cooling medium flow path body (71) is disposed on a first wall surface (1) so as to surround a motor (50).

Description

ロボット及び冷却装置のロボットへの取り付け方法How to attach the robot and cooling device to the robot
　本発明は、ロボット及び冷却装置のロボットへの取り付け方法に関する。 The present invention relates to a method of attaching a robot and a cooling device to a robot.
　効果的に減速装置を冷却することを目的とした多関節型ロボットが知られている（例えば、特許文献１参照）。特許文献１に開示されている多関節型ロボットでは、内部に冷却水の流路を有する冷却用部材を減速装置に一体に組付けることにより、減速装置を効果的に冷却することができるとしている。 An articulated robot aimed at effectively cooling a speed reducer is known (see, for example, Patent Document 1). In the articulated robot disclosed in Patent Document 1, it is stated that the deceleration device can be effectively cooled by integrally assembling the cooling member having a flow path of cooling water inside to the deceleration device. ..
特開２００９－２３３８２４号公報Japanese Unexamined Patent Publication No. 2009-233824
　しかしながら、上記特許文献１に開示されている多関節型ロボットでは、既存のロボット（例えば、工場等に設置されているロボット）の減速装置を冷却する場合には、作業者が、減速装置をロボットから取り外す必要があり、作業効率の向上の観点から未だ改善の余地があった。 However, in the articulated robot disclosed in Patent Document 1, when cooling the deceleration device of an existing robot (for example, a robot installed in a factory or the like), an operator uses the deceleration device as a robot. There was still room for improvement from the viewpoint of improving work efficiency.
　本発明は、上記従来の課題を解決するもので、作業者の負担を軽減して、冷却装置の取り付け作業の効率を向上させることができる、ロボット及び冷却装置のロボットへの取り付け方法を提供することを目的とする。 The present invention solves the above-mentioned conventional problems, and provides a robot and a method for attaching a cooling device to a robot, which can reduce the burden on an operator and improve the efficiency of the attachment work of the cooling device. The purpose is.
　上記従来の課題を解決するために、本発明に係るロボットは、第Ｎリンクと、第Ｎ＋１リンクと、前記第Ｎリンクと前記第Ｎ＋１リンクとの間に形成されている関節部と、前記関節部に配置されている冷却装置と、を備え、前記第Ｎリンクを構成する第１隔壁の当該第Ｎリンク側の壁面である第１壁面には、前記モータが配置されていて、前記第１隔壁の前記第Ｎ＋１リンク側の壁面である第２壁面には、減速装置が配置されていて、前記冷却装置は、環状、又は筒状に形成され、その内部に冷却媒体が通流する冷却媒体流路が形成されている、冷却媒体流路体と、前記冷却媒体流路体に接続されている冷却媒体循環流路と、ラジエータと、送出器と、ファンと、を有し、前記ラジエータ及び前記送出器は、前記冷却媒体循環流路の途中に設けられていて、前記ファンは、前記ラジエータを空冷するように構成され、前記冷却媒体流路体は、前記モータを囲むように、前記第１壁面に配設されている。 In order to solve the above-mentioned conventional problems, the robot according to the present invention includes an Nth link, an N + 1 link, a joint portion formed between the Nth link and the N + 1 link, and the joint. The motor is arranged on the first wall surface, which is the wall surface on the Nth link side of the first partition wall that includes the cooling device arranged in the section and constitutes the Nth link. A speed reducing device is arranged on the second wall surface, which is the wall surface on the N + 1 link side of the partition wall, and the cooling device is formed in an annular shape or a tubular shape, and a cooling medium through which the cooling medium passes through the cooling medium. It has a cooling medium flow path body in which a flow path is formed, a cooling medium circulation flow path connected to the cooling medium flow path body, a radiator, a transmitter, and a fan, and includes the radiator and the fan. The transmitter is provided in the middle of the cooling medium circulation flow path, the fan is configured to air-cool the radiator, and the cooling medium flow path body surrounds the motor. 1 It is arranged on the wall surface.
　これにより、既存のロボットに対して、冷却媒体流路体を簡易に取り付けることができ、作業者の負担を軽減して、冷却装置（冷却媒体流路体）の取り付け作業の効率を向上させることができる。 As a result, the cooling medium flow path body can be easily attached to the existing robot, the burden on the operator is reduced, and the efficiency of the installation work of the cooling device (cooling medium flow path body) is improved. Can be done.
　また、冷却媒体流路体が、モータの外周面を覆うように配置されているので、モータを効率的に冷却することができる。さらに、第１隔壁の第Ｎ＋１リンク側に、減速装置が配置されているので、第１隔壁からの伝熱により減速装置を効率的に冷却することができる。このため、モータと減速装置の両方を冷却することができるため、上記特許文献１に開示されている多関節型ロボットに比して、製造コストを低減することができる。 Further, since the cooling medium flow path body is arranged so as to cover the outer peripheral surface of the motor, the motor can be cooled efficiently. Further, since the speed reducer is arranged on the N + 1 link side of the first partition wall, the speed reducer can be efficiently cooled by heat transfer from the first partition wall. Therefore, since both the motor and the speed reducer can be cooled, the manufacturing cost can be reduced as compared with the articulated robot disclosed in Patent Document 1.
　また、本発明に係る冷却装置のロボットへの取り付け方法は、前記ロボットの関節部が、第Ｎリンクを構成する第１隔壁と第Ｎ＋１リンクを構成する第２隔壁を有し、前記第１隔壁の前記第Ｎリンク側の壁面である第１壁面には、筒状の突出部が形成されていて、かつ、前記モータが前記突出部の内方に位置するように配置されていて、前記第１隔壁の前記第Ｎ＋１リンク側の壁面である第２壁面には、減速装置が配置されていて、前記冷却装置は、環状、又は筒状に形成され、その内部に冷却媒体が通流する冷却媒体流路が形成されている、冷却媒体流路体と、前記冷却媒体流路体に接続されている冷却媒体循環流路と、ラジエータと、送出器と、ファンと、基台と、を備え、前記ラジエータ及び前記送出器は、前記冷却媒体循環流路の途中に設けられていて、前記ファンは、前記ラジエータを空冷するように構成されていて、前記基台に前記ラジエータ、前記送出器、及び前記ファンを取り付ける（Ａ）と、前記冷却媒体流路体の内部空間が前記モータを挿通するように、かつ、当該冷却媒体流路体を前記第１隔壁の前記第１壁面に当接させる（Ｂ）と、前記ラジエータ、前記送出器、及び前記ファンが取り付けられた前記基台を前記本体部及び／又は前記モータに取り付ける（Ｃ）と、前記冷却媒体流路体、前記ラジエータ、及び前記送出器を前記冷却媒体循環流路で接続する（Ｄ）と、を備える。 Further, in the method of attaching the cooling device to the robot according to the present invention, the joint portion of the robot has a first partition wall forming the Nth link and a second partition wall forming the N + 1 link, and the first partition wall is formed. A tubular protruding portion is formed on the first wall surface, which is the wall surface on the Nth link side of the above, and the motor is arranged so as to be located inside the protruding portion. A speed reducing device is arranged on the second wall surface, which is the wall surface on the N + 1 link side of the partition wall, and the cooling device is formed in an annular shape or a tubular shape, and a cooling medium flows through the cooling device. A cooling medium flow path body in which a medium flow path is formed, a cooling medium circulation flow path connected to the cooling medium flow path body, a radiator, a transmitter, a fan, and a base are provided. The radiator and the transmitter are provided in the middle of the cooling medium circulation flow path, and the fan is configured to air-cool the radiator. When the fan is attached (A), the internal space of the cooling medium flow path body allows the motor to pass through, and the cooling medium flow path body is brought into contact with the first wall surface of the first partition wall. (B) and the base to which the radiator, the transmitter, and the fan are attached are attached to the main body and / or the motor (C), the cooling medium flow path body, the radiator, and the said. (D), in which the transmitter is connected by the cooling medium circulation flow path, is provided.
　これにより、既存のロボットに対して、冷却装置を簡易に取り付けることができ、作業者の負担を軽減して、冷却装置の取り付け作業の効率を向上させることができる。 As a result, the cooling device can be easily attached to the existing robot, the burden on the operator can be reduced, and the efficiency of the cooling device installation work can be improved.
　また、冷却媒体流路体が、モータの外周面を覆うように配置されているので、モータを効率的に冷却することができる。さらに、第１隔壁の第Ｎ＋１リンク側に、減速装置が配置されているので、第１隔壁からの伝熱により減速装置を効率的に冷却することができる。このため、モータと減速装置の両方を冷却することができるため、上記特許文献１に開示されている多関節型ロボットに比して、製造コストを低減することができる。 Further, since the cooling medium flow path body is arranged so as to cover the outer peripheral surface of the motor, the motor can be cooled efficiently. Further, since the speed reducer is arranged on the N + 1 link side of the first partition wall, the speed reducer can be efficiently cooled by heat transfer from the first partition wall. Therefore, since both the motor and the speed reducer can be cooled, the manufacturing cost can be reduced as compared with the articulated robot disclosed in Patent Document 1.
　また、本発明に係る冷却装置のロボットへの取り付け方法は、前記ロボットの関節部が、第Ｎリンクを構成する第１隔壁と第Ｎ＋１リンクを構成する第２隔壁を有し、前記第１隔壁の前記第Ｎリンク側の壁面である第１壁面には、筒状の突出部が形成されていて、かつ、前記モータが前記突出部の内方に位置するように配置されていて、前記第１隔壁の前記第Ｎ＋１リンク側の壁面である第２壁面には、減速装置が配置されていて、前記冷却装置は、環状、又は筒状に形成され、その内部に冷却媒体が通流する冷却媒体流路が形成されている、冷却媒体流路体と、前記冷却媒体流路体に接続されている冷却媒体循環流路と、ラジエータと、送出器と、ファンと、基台と、を備え、前記ラジエータ及び前記送出器は、前記冷却媒体循環流路の途中に設けられていて、前記ファンは、前記ラジエータを空冷するように構成されていて、前記冷却媒体流路体の内部空間が前記モータを挿通するように、かつ、当該冷却媒体流路体を前記第１隔壁の前記第１壁面に当接させる（Ｅ）と、前記基台を前記本体部及び／又は前記モータに取り付ける（Ｆ）と、前記基台に前記ラジエータ、前記送出器、及び前記ファンを取り付ける（Ｇ）と、前記冷却媒体流路体、前記ラジエータ、及び前記送出器を前記冷却媒体循環流路で接続する（Ｈ）と、を備える。 Further, in the method of attaching the cooling device to the robot according to the present invention, the joint portion of the robot has a first partition wall forming the Nth link and a second partition wall forming the N + 1 link, and the first partition wall is formed. A tubular protruding portion is formed on the first wall surface, which is the wall surface on the Nth link side of the above, and the motor is arranged so as to be located inside the protruding portion. A speed reducing device is arranged on the second wall surface, which is the wall surface on the N + 1 link side of the partition wall, and the cooling device is formed in an annular shape or a tubular shape, and a cooling medium flows through the cooling device. A cooling medium flow path body in which a medium flow path is formed, a cooling medium circulation flow path connected to the cooling medium flow path body, a radiator, a transmitter, a fan, and a base are provided. The radiator and the transmitter are provided in the middle of the cooling medium circulation flow path, the fan is configured to air-cool the radiator, and the internal space of the cooling medium flow path body is the said. When the cooling medium flow path body is brought into contact with the first wall surface of the first partition wall so as to insert the motor (E), the base is attached to the main body and / or the motor (F). ), The radiator, the transmitter, and the fan are attached to the base (G), and the cooling medium flow path body, the radiator, and the transmitter are connected by the cooling medium circulation flow path (H). ) And.
　これにより、既存のロボットに対して、冷却装置を簡易に取り付けることができ、作業者の負担を軽減して、冷却装置の取り付け作業の効率を向上させることができる。 As a result, the cooling device can be easily attached to the existing robot, the burden on the operator can be reduced, and the efficiency of the cooling device installation work can be improved.
　また、冷却媒体流路体が、モータの外周面を覆うように配置されているので、モータを効率的に冷却することができる。さらに、第１隔壁の第Ｎ＋１リンク側に、減速装置が配置されているので、第１隔壁からの伝熱により、減速装置を効率的に冷却することができる。このため、モータと減速装置の両方を冷却することができるため、上記特許文献１に開示されている多関節型ロボットに比して、製造コストを低減することができる。 Further, since the cooling medium flow path body is arranged so as to cover the outer peripheral surface of the motor, the motor can be cooled efficiently. Further, since the reduction gear is arranged on the N + 1 link side of the first partition wall, the reduction gear can be efficiently cooled by the heat transfer from the first partition wall. Therefore, since both the motor and the speed reducer can be cooled, the manufacturing cost can be reduced as compared with the articulated robot disclosed in Patent Document 1.
　本発明の上記目的、他の目的、特徴、及び利点は、添付図面参照の下、以下の好適な実施形態の詳細な説明から明らかにされる。 The above-mentioned object, other object, feature, and advantage of the present invention will be clarified from the detailed description of the following preferred embodiments with reference to the accompanying drawings.
　本発明の冷却装置、ロボット、及び冷却装置のロボットへの取り付け方法によれば、作業者の負担を軽減して、冷却装置の取り付け作業の効率を向上させることができる、及び／又は製造コストを低減することができる。 According to the cooling device, the robot, and the method of attaching the cooling device to the robot of the present invention, the burden on the operator can be reduced, the efficiency of the mounting work of the cooling device can be improved, and / or the manufacturing cost can be reduced. Can be reduced.
図１は、本実施の形態１に係るロボットの概略構成を示す模式図である。FIG. 1 is a schematic diagram showing a schematic configuration of a robot according to the first embodiment. 図２は、図１に示すロボットの関節部（第２関節）の概略構成を示す模式図である。FIG. 2 is a schematic view showing a schematic configuration of a joint portion (second joint) of the robot shown in FIG. 図３は、図２に示す冷却装置の冷却媒体流路体の概略構成を示す模式図である。FIG. 3 is a schematic view showing a schematic configuration of a cooling medium flow path body of the cooling device shown in FIG. 図４は、本実施の形態１に係る冷却装置の取り付け方法の一例を示すフローチャートである。FIG. 4 is a flowchart showing an example of a method of attaching the cooling device according to the first embodiment. 図５は、本実施の形態１における変形例１のロボットの概略構成を示す模式図である。FIG. 5 is a schematic diagram showing a schematic configuration of the robot of the modified example 1 in the first embodiment. 図６は、本実施の形態２に係る冷却装置の取り付け方法の一例を示すフローチャートである。FIG. 6 is a flowchart showing an example of a method of attaching the cooling device according to the second embodiment.
　以下、本発明の実施の形態を、図面を参照しながら説明する。なお、全ての図面において、同一又は相当部分には同一符号を付し、重複する説明は省略する。また、全ての図面において、本発明を説明するための構成要素を抜粋して図示しており、その他の構成要素については図示を省略している場合がある。さらに、本発明は以下の実施の形態に限定されない。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all drawings, the same or corresponding parts are designated by the same reference numerals, and duplicate description will be omitted. Further, in all the drawings, the components for explaining the present invention are excerpted and shown, and the other components may be omitted. Furthermore, the present invention is not limited to the following embodiments.
　（実施の形態１）
　本実施の形態１に係るロボットは、第Ｎリンクと、第Ｎ＋１リンクと、第Ｎリンクと第Ｎ＋１リンクとの間に形成されている関節部と、関節部に配置されている冷却装置と、を備え、第Ｎリンクを構成する第１隔壁の当該第Ｎリンク側の壁面である第１壁面には、モータが配置されていて、第１隔壁の第Ｎ＋１リンク側の壁面である第２壁面には、減速装置が配置されていて、冷却装置は、環状、又は筒状に形成され、その内部に冷却媒体が通流する冷却媒体流路が形成されている、冷却媒体流路体と、冷却媒体流路体に接続されている冷却媒体循環流路と、ラジエータと、送出器と、ファンと、を有し、ラジエータ及び送出器は、冷却媒体循環流路の途中に設けられていて、ファンは、ラジエータを空冷するように構成され、冷却媒体流路体は、モータを囲むように、第１壁面に配設されている。なお、Ｎは、０を除く、自然数である。 (Embodiment 1)
The robot according to the first embodiment includes an N-link, an N + 1 link, a joint formed between the N-link and the N + 1 link, a cooling device arranged at the joint, and a cooling device. A second wall surface, which is a wall surface on the N + 1 link side of the first partition wall, is provided with a motor and is arranged on the first wall surface, which is the wall surface on the Nth link side of the first partition wall forming the Nth link. A cooling medium flow path body in which a speed reducer is arranged, the cooling device is formed in an annular shape or a tubular shape, and a cooling medium flow path through which the cooling medium passes is formed therein. It has a cooling medium circulation flow path connected to the cooling medium flow path body, a radiator, a transmitter, and a fan, and the radiator and the transmitter are provided in the middle of the cooling medium circulation flow path. The fan is configured to air-cool the radiator, and the cooling medium flow path body is arranged on the first wall surface so as to surround the motor. N is a natural number excluding 0.
　また、本実施の形態１に係るロボットでは、第１隔壁の第１壁面には、突出部が設けられていて、
　冷却媒体流路体は、外周面が突出部の内周面よりも内方に位置し、かつ、内周面がモータの外周面よりも外方に位置するように構成されていてもよい。 Further, in the robot according to the first embodiment, a protrusion is provided on the first wall surface of the first partition wall.
The cooling medium flow path body may be configured such that the outer peripheral surface is located inward of the inner peripheral surface of the protruding portion and the inner peripheral surface is located outside of the outer peripheral surface of the motor.
　また、本実施の形態１に係るロボットでは、突出部は、筒状に形成されていてもよい。 Further, in the robot according to the first embodiment, the protruding portion may be formed in a cylindrical shape.
　また、本実施の形態１に係るロボットでは、ロボットが、多軸垂直多関節ロボットであり、ロボットの基端側の関節部の軸を第１軸と定義した場合に、冷却装置は、ロボットの第１軸～第３軸のうち、少なくとも１つの軸に配置されていてもよい。 Further, in the robot according to the first embodiment, when the robot is a multi-axis vertical articulated robot and the axis of the joint portion on the base end side of the robot is defined as the first axis, the cooling device is the robot. It may be arranged on at least one of the first to third axes.
　また、本実施の形態１に係るロボットでは、冷却媒体流路体と第１壁面との間には、伝熱剤が配置されていてもよい。 Further, in the robot according to the first embodiment, a heat transfer agent may be arranged between the cooling medium flow path body and the first wall surface.
　また、本実施の形態１に係るロボットでは、冷却媒体循環流路が、第Ｎリンク内に配置されていてもよい。 Further, in the robot according to the first embodiment, the cooling medium circulation flow path may be arranged in the Nth link.
　さらに、本実施の形態１に係る冷却装置のロボットへの取り付け方法は、ロボットの関節部に用いられる冷却装置の取り付け方法であって、ロボットの関節部は、第Ｎリンクを構成する第１隔壁と第Ｎ＋１リンクを構成する第２隔壁を有し、第１隔壁の第Ｎリンク側の壁面である第１壁面には、筒状の突出部が形成されていて、かつ、モータが突出部の内方に位置するように配置されていて、第１隔壁の第Ｎ＋１リンク側の壁面である第２壁面には、減速装置が配置されていて、冷却装置は、環状、又は筒状に形成され、その内部に冷却媒体が通流する冷却媒体流路が形成されている、冷却媒体流路体と、冷却媒体流路体に接続されている冷却媒体循環流路と、ラジエータと、送出器と、ファンと、基台と、を備え、ラジエータ及び送出器は、冷却媒体循環流路の途中に設けられていて、ファンは、ラジエータを空冷するように構成されていて、基台にラジエータ、送出器、及びファンを取り付ける（Ａ）と、冷却媒体流路体の内部空間がモータを挿通するように、かつ、当該冷却媒体流路体を第１隔壁の第１壁面に当接させる（Ｂ）と、ラジエータ、送出器、及びファンが取り付けられた基台を本体部及び／又はモータに取り付ける（Ｃ）と、冷却媒体流路体、ラジエータ、及び送出器を冷却媒体循環流路で接続する（Ｄ）と、を備える。 Further, the method of attaching the cooling device to the robot according to the first embodiment is the method of attaching the cooling device used for the joint portion of the robot, and the joint portion of the robot is the first partition wall constituting the Nth link. The first wall surface, which is the wall surface on the N link side of the first partition wall, has a second partition wall forming the N + 1 link, and a tubular protrusion is formed on the first wall surface, and the motor is a protrusion. A speed reducer is arranged on the second wall surface, which is arranged so as to be located inward and is the wall surface on the N + 1 link side of the first partition wall, and the cooling device is formed in an annular shape or a tubular shape. , A cooling medium flow path through which the cooling medium passes, a cooling medium flow path connected to the cooling medium flow path, a radiator, and a transmitter. The fan and the base are provided, the radiator and the transmitter are provided in the middle of the cooling medium circulation flow path, and the fan is configured to air-cool the radiator, and the radiator and the transmitter are provided on the base. When the device and the fan are attached (A), the internal space of the cooling medium flow path body allows the motor to pass through, and the cooling medium flow path body is brought into contact with the first wall surface of the first partition wall (B). And, when the base to which the radiator, the transmitter, and the fan are attached is attached to the main body and / or the motor (C), the cooling medium flow path body, the radiator, and the transmitter are connected by the cooling medium circulation flow path ( D) and.
　以下、本実施の形態１に係るロボットの一例について、図１～図４を参照しながら説明する。 Hereinafter, an example of the robot according to the first embodiment will be described with reference to FIGS. 1 to 4.
　［ロボットの構成］
　図１は、本実施の形態１に係るロボットの概略構成を示す模式図である。なお、図１においては、ロボットにおける上下方向を図における上下方向として表している。 [Robot configuration]
FIG. 1 is a schematic diagram showing a schematic configuration of a robot according to the first embodiment. In FIG. 1, the vertical direction in the robot is represented as the vertical direction in the figure.
　図１に示すように、本実施の形態１に係るロボット１０１は、複数のリンク（ここでは、第１リンク１１ａ～第６リンク１１ｆ）の連接体と、複数の関節部（ここでは、第１関節ＪＴ１～第６関節ＪＴ６）と、これらを支持する基台１５と、制御装置１１１と、を備える、垂直多関節ロボットアームである。 As shown in FIG. 1, the robot 101 according to the first embodiment includes an articulated body of a plurality of links (here, the first link 11a to the sixth link 11f) and a plurality of joint portions (here, the first link). It is a vertical articulated robot arm including joints JT1 to 6), a base 15 for supporting them, and a control device 111.
　なお、本実施の形態１においては、ロボット１０１として、６軸の垂直多関節型ロボットを採用したが、これに限定されず、垂直多関節型ロボットであれば、７軸の垂直多関節型ロボットであってもよい。 In the first embodiment, a 6-axis vertical articulated robot is adopted as the robot 101, but the robot is not limited to this, and if it is a vertical articulated robot, a 7-axis vertical articulated robot is used. It may be.
　第１関節ＪＴ１では、基台１５と、第１リンク１１ａの基端部とが、鉛直方向に延びる軸回りに回転可能に連結されている。第２関節ＪＴ２では、第１リンク１１ａの先端部と、第２リンク１１ｂの基端部とが、水平方向に延びる軸回りに回転可能に連結されている。第３関節ＪＴ３では、第２リンク１１ｂの先端部と、第３リンク１１ｃの基端部とが、水平方向に延びる軸回りに回転可能に連結されている。 In the first joint JT1, the base 15 and the base end portion of the first link 11a are rotatably connected around an axis extending in the vertical direction. In the second joint JT2, the tip end portion of the first link 11a and the base end portion of the second link 11b are rotatably connected around an axis extending in the horizontal direction. In the third joint JT3, the tip end portion of the second link 11b and the base end portion of the third link 11c are rotatably connected around an axis extending in the horizontal direction.
　また、第４関節ＪＴ４では、第３リンク１１ｃの先端部と、第４リンク１１ｄの基端部とが、第４リンク１１ｄの長手方向に延びる軸回りに回転可能に連結されている。第５関節ＪＴ５では、第４リンク１１ｄの先端部と、第５リンク１１ｅの基端部とが、第４リンク１１ｄの長手方向と直交する軸回りに回転可能に連結されている。第６関節ＪＴ６では、第５リンク１１ｅの先端部と第６リンク１１ｆの基端部とが、捻れ回転可能に連結されている。 Further, in the fourth joint JT4, the tip end portion of the third link 11c and the base end portion of the fourth link 11d are rotatably connected around an axis extending in the longitudinal direction of the fourth link 11d. In the fifth joint JT5, the tip end portion of the fourth link 11d and the base end portion of the fifth link 11e are rotatably connected around an axis orthogonal to the longitudinal direction of the fourth link 11d. In the sixth joint JT6, the tip end portion of the fifth link 11e and the base end portion of the sixth link 11f are rotatably connected to each other.
　そして、第６リンク１１ｆの先端部には、メカニカルインターフェースが設けられている。このメカニカルインターフェースには、作業内容に対応したエンドエフェクタ２０が着脱可能に装着される。 A mechanical interface is provided at the tip of the 6th link 11f. An end effector 20 corresponding to the work content is detachably attached to this mechanical interface.
　また、第１関節ＪＴ１～第６関節ＪＴ６には、それぞれ、各関節が連結する２つの部材を相対的に回転させるアクチュエータの一例としてのモータが設けられている（図２参照）。モータは、例えば、制御装置１１１によってサーボ制御されるサーボモータであってもよい。また、第１関節ＪＴ１～第６関節ＪＴ６には、それぞれ、駆動モータの回転位置を検出する回転センサと、駆動モータの回転を制御する電流を検出する電流センサと、が設けられている（それぞれ、図示せず）。回転センサは、例えば、エンコーダであってもよい。 Further, each of the first joint JT1 to the sixth joint JT6 is provided with a motor as an example of an actuator that relatively rotates two members to which each joint is connected (see FIG. 2). The motor may be, for example, a servomotor that is servo-controlled by the control device 111. Further, each of the first joint JT1 to the sixth joint JT6 is provided with a rotation sensor for detecting the rotation position of the drive motor and a current sensor for detecting the current for controlling the rotation of the drive motor (each of them). , Not shown). The rotation sensor may be, for example, an encoder.
　制御装置１１１は、基台１５（ロボット１０１）外に配置されている。なお、制御装置１１１は、基台１５（ロボット１０１）内に配置されていてもよい。また、制御装置１１１は、マイクロプロセッサ、ＣＰＵ等の演算処理器１１１ａと、ＲＯＭ、ＲＡＭ等の記憶器１１１ｂと、を備えている。記憶器１１１ｂには、基本プログラム、各種固定データ等の情報が記憶されている。 The control device 111 is arranged outside the base 15 (robot 101). The control device 111 may be arranged in the base 15 (robot 101). Further, the control device 111 includes an arithmetic processor 111a such as a microprocessor and a CPU, and a storage device 111b such as a ROM and RAM. Information such as a basic program and various fixed data is stored in the storage device 111b.
　演算処理器１１１ａは、記憶器１１１ｂに記憶された基本プログラム等のソフトウェアを読み出して実行することにより、ロボット１０１の各種の動作を実行するように構成されている。 The arithmetic processing unit 111a is configured to execute various operations of the robot 101 by reading and executing software such as a basic program stored in the storage unit 111b.
　また、制御装置１１１は、後述する冷却装置７０の送出器７５及び／又はファン７６を制御するように構成されていてもよい。この場合、制御装置１１１は、各関節部に配置されているモータに通流する電流の増減に伴うように、送出器７５及び／又はファン７６を制御してもよい。 Further, the control device 111 may be configured to control the transmitter 75 and / or the fan 76 of the cooling device 70 described later. In this case, the control device 111 may control the transmitter 75 and / or the fan 76 so as to increase or decrease the current flowing through the motors arranged at each joint.
　具体的には、制御装置１１１は、モータに通流する電流を増加させる場合には、送出器７５の送出量を増加させるように制御してもよく、及び／又はファン７６の操作量（回転速度）を増加させるように制御してもよい。また、制御装置１１１は、モータに通流する電流を減少させる場合には、送出器７５の送出量を減少させるように制御してもよく、及び／又はファン７６の操作量（回転速度）を減少させるように制御してもよい。 Specifically, the control device 111 may be controlled to increase the transmission amount of the transmitter 75 when increasing the current flowing through the motor, and / or the operation amount (rotation) of the fan 76. It may be controlled to increase the speed). Further, when the current flowing through the motor is reduced, the control device 111 may be controlled so as to reduce the transmission amount of the transmitter 75 and / or the operation amount (rotational speed) of the fan 76. It may be controlled to decrease.
　なお、制御装置１１１は、集中制御する単独の制御装置によって構成されていてもよいし、互いに協働して分散制御する複数の制御装置によって構成されていてもよい。また、制御装置１１１は、マイクロコンピュータで構成されていてもよく、ＭＰＵ、ＰＬＣ（Ｐｒｏｇｒａｍｍａｂｌｅ　Ｌｏｇｉｃ　Ｃｏｎｔｒｏｌｌｅｒ）、論理回路等によって構成されていてもよい。 The control device 111 may be configured by a single control device that centrally controls, or may be configured by a plurality of control devices that cooperate with each other to perform distributed control. Further, the control device 111 may be composed of a microcomputer, an MPU, a PLC (Programmable Logic Controller), a logic circuit, or the like.
　［冷却装置の構造］
　次に、本実施の形態１に係るロボット１０１の関節部に用いられる冷却装置について、図２及び図３を参照しながら、説明する。 [Cooling device structure]
Next, the cooling device used for the joint portion of the robot 101 according to the first embodiment will be described with reference to FIGS. 2 and 3.
　図２は、図１に示すロボットの関節部（第２関節ＪＴ２）の概略構成を示す模式図である。 FIG. 2 is a schematic diagram showing a schematic configuration of a joint portion (second joint JT2) of the robot shown in FIG.
　図２に示すように、第２関節ＪＴ２では、第１リンク１１ａと第２リンク１１ｂが連結されている。第１リンク１１ａは、本体部３１を有する。本体部３１には、板状の第１隔壁３１ａが形成されている。また、第２リンク１１ｂは、第２隔壁４２を有する。 As shown in FIG. 2, in the second joint JT2, the first link 11a and the second link 11b are connected. The first link 11a has a main body 31. A plate-shaped first partition wall 31a is formed on the main body 31. Further, the second link 11b has a second partition wall 42.
　第１隔壁３１ａには、貫通孔３１ｂが設けられている。本体部３１は、貫通孔３１ｂが、第２リンク１１ｂに設けられている凹部４０と連通するように配置されている。なお、以下においては、第１隔壁３１ａの第２リンク１１ｂ側の壁面を第２壁面２と称し、第２壁面２の反対側（第１リンク１１ａ側）の壁面を第１壁面１と称する。 The first partition wall 31a is provided with a through hole 31b. The main body 31 is arranged so that the through hole 31b communicates with the recess 40 provided in the second link 11b. In the following, the wall surface of the first partition wall 31a on the second link 11b side is referred to as the second wall surface 2, and the wall surface on the opposite side of the second wall surface 2 (first link 11a side) is referred to as the first wall surface 1.
　第１隔壁３１ａの第１壁面１には、筒状の突出部３１ｃが設けられている。また、第１壁面１には、突出部３１ｃの内方に位置し、かつ、出力軸５１が貫通孔３１ｂを挿通するように、モータ５０が配置されている。モータ５０の出力軸５１には、凹部４０内に配置されている減速装置６０が接続されている。減速装置６０は、第２リンク１１ｂに接続されている。なお、減速装置６０は、公知の種々の減速装置を用いることができる。 A cylindrical protrusion 31c is provided on the first wall surface 1 of the first partition wall 31a. Further, a motor 50 is arranged on the first wall surface 1 so as to be located inside the protruding portion 31c and so that the output shaft 51 inserts the through hole 31b. A speed reducing device 60 arranged in the recess 40 is connected to the output shaft 51 of the motor 50. The speed reducer 60 is connected to the second link 11b. As the speed reducer 60, various known speed reducers can be used.
　これにより、モータ５０が回転駆動すると、第２リンク１１ｂが、第１リンク１１ａに対して揺動することができる。 As a result, when the motor 50 is rotationally driven, the second link 11b can swing with respect to the first link 11a.
　さらに、第１壁面１には、モータ５０の外周面５を囲むように、本実施の形態１に係る冷却媒体流路体７１が配置されている。なお、第１壁面１と冷却媒体流路体７１との間には、伝熱剤７２が配置されていてもよい。伝熱剤７２としては、例えば、放熱グリス（熱伝導グリス）であってもよく、放熱用シリコンであってもよい。 Further, on the first wall surface 1, the cooling medium flow path body 71 according to the first embodiment is arranged so as to surround the outer peripheral surface 5 of the motor 50. The heat transfer agent 72 may be arranged between the first wall surface 1 and the cooling medium flow path body 71. The heat transfer agent 72 may be, for example, thermal paste (heat conductive grease) or silicon for heat dissipation.
　ここで、図２及び図３を参照しながら、冷却媒体流路体７１の構成について、説明する。 Here, the configuration of the cooling medium flow path body 71 will be described with reference to FIGS. 2 and 3.
　図３は、図２に示す冷却装置の冷却媒体流路体の概略構成を示す模式図である。なお、図３において、冷却媒体流路体における上下方向を図における上下方向としてあらわしている。 FIG. 3 is a schematic view showing a schematic configuration of a cooling medium flow path body of the cooling device shown in FIG. In addition, in FIG. 3, the vertical direction in the cooling medium flow path body is represented as the vertical direction in the figure.
　図２及び図３に示すように、冷却媒体流路体７１は、環状又は筒状に形成されている。冷却媒体流路体７１は、外周面７ａが突出部３１ｃの内周面３よりも内方に位置し、かつ、内周面７ｂがモータ５０の外周面５よりも外方に位置するように、構成されている。 As shown in FIGS. 2 and 3, the cooling medium flow path body 71 is formed in an annular shape or a cylindrical shape. The outer peripheral surface 7a of the cooling medium flow path body 71 is located inward of the inner peripheral surface 3 of the protruding portion 31c, and the inner peripheral surface 7b is located outside of the outer peripheral surface 5 of the motor 50. ,It is configured.
　これにより、作業者は、冷却媒体流路体７１を突出部３１ｃとモータ５０の間の筒状空間に容易に挿通させることができる。 As a result, the operator can easily insert the cooling medium flow path body 71 into the cylindrical space between the protrusion 31c and the motor 50.
　また、冷却媒体流路体７１の内部には、冷却媒体流路７１ａが形成されている。冷却媒体流路７１ａは、モータ５０の出力軸５１の軸心方向から見て、略Ｃ字状に（周回するように）形成されている。また、冷却媒体流路７１ａは、外周面７ａと内周面７ｂの間の領域を蛇行するように形成されている。 Further, a cooling medium flow path 71a is formed inside the cooling medium flow path body 71. The cooling medium flow path 71a is formed in a substantially C shape (circling) when viewed from the axial direction of the output shaft 51 of the motor 50. Further, the cooling medium flow path 71a is formed so as to meander in the region between the outer peripheral surface 7a and the inner peripheral surface 7b.
　冷却媒体流路７１ａの一方の端部（図３においては、下側の端部）が、冷却媒体の入口（供給口）７１ｂを構成し、他方の端部（図３においては、上側の端部）が、冷却媒体の出口（排出口）７１ｃを構成する。また、入口７１ｂと出口７１ｃは、冷却媒体循環流路７３により接続されている。 One end of the cooling medium flow path 71a (lower end in FIG. 3) constitutes the inlet (supply port) 71b of the cooling medium, and the other end (upper end in FIG. 3). Section) constitutes the outlet (discharge port) 71c of the cooling medium. Further, the inlet 71b and the outlet 71c are connected by a cooling medium circulation flow path 73.
　なお、冷却媒体流路７１ａ及び冷却媒体循環流路７３内を通流する冷却媒体としては、例えば、水、水溶液、不凍液（エチレングリコール、グリセリン、ロングライフクーラント（ＬＬＣ））であってもよい。 The cooling medium passing through the cooling medium flow path 71a and the cooling medium circulation flow path 73 may be, for example, water, an aqueous solution, or an antifreeze solution (ethylene glycol, glycerin, long life coolant (LLC)).
　冷却媒体循環流路７３の途中には、ラジエータ７４及び送出器（ポンプ）７５が設けられている。また、ラジエータ７４には、当該ラジエータ７４を冷却するためのファン７６が設けられている。なお、ラジエータ７４には、第１流路７７を介して、タンク７８が設けられていてもよい。 A radiator 74 and a transmitter (pump) 75 are provided in the middle of the cooling medium circulation flow path 73. Further, the radiator 74 is provided with a fan 76 for cooling the radiator 74. The radiator 74 may be provided with a tank 78 via the first flow path 77.
　冷却装置７０をコンパクト化する観点から、送出器７５は、ラジエータ７４の下流側に設けられていてもよい。また、冷却装置７０の冷却効率を向上させる観点から、送出器７５は、ラジエータ７４の上流側に配置されていてもよい。 From the viewpoint of making the cooling device 70 compact, the transmitter 75 may be provided on the downstream side of the radiator 74. Further, from the viewpoint of improving the cooling efficiency of the cooling device 70, the transmitter 75 may be arranged on the upstream side of the radiator 74.
　また、ラジエータ７４、送出器７５、及びタンク７８は、略Ｌ字状の基台７９に取り付けられている。基台７９は、モータ５０に設けられているフランジ８０に接続（固定）されている。 Further, the radiator 74, the transmitter 75, and the tank 78 are attached to a substantially L-shaped base 79. The base 79 is connected (fixed) to a flange 80 provided on the motor 50.
　［冷却装置の取り付け方法］
　次に、本実施の形態１に係る冷却装置７０の取り付け方法について、図１～図４を参照しながら、詳細に説明する。なお、以下の動作は、作業者が実行するが、作業者が、冷却装置７０を取り付けるロボット１０１以外のロボットを操作することで実行してもよい。 [How to install the cooling device]
Next, the method of attaching the cooling device 70 according to the first embodiment will be described in detail with reference to FIGS. 1 to 4. Although the following operations are executed by the operator, the operator may execute the following operations by operating a robot other than the robot 101 to which the cooling device 70 is attached.
　図４は、本実施の形態１に係る冷却装置の取り付け方法の一例を示すフローチャートである。 FIG. 4 is a flowchart showing an example of a method of attaching the cooling device according to the first embodiment.
　なお、既存の設備等に配置されているロボットには、本実施の形態１に係る冷却装置７０が取り付けられていないものとし、当該ロボットに冷却装置７０を取り付ける作業を以下に説明する。 It is assumed that the cooling device 70 according to the first embodiment is not attached to the robot arranged in the existing equipment or the like, and the work of attaching the cooling device 70 to the robot will be described below.
　図４に示すように、作業者は、基台７９にラジエータ７４、送出器７５、及びタンク７８を取り付ける（ステップＳ１０１）。 As shown in FIG. 4, the operator attaches the radiator 74, the transmitter 75, and the tank 78 to the base 79 (step S101).
　次に、作業者は、冷却媒体流路体７１を第１隔壁３１ａの第１壁面１に取り付ける（ステップＳ１０２）。具体的には、作業者は、冷却媒体流路体７１の内部空間がモータ５０を挿通するように、冷却媒体流路体７１を移動させ、当該冷却媒体流路体７１を第１隔壁３１ａの第１壁面１に当接させる。そして、作業者は、適宜な部材（例えば、ボルト等）により、冷却媒体流路体７１を第１壁面１に取り付ける（固定する）。このとき、作業者は、冷却媒体流路体７１における第１壁面１との当接面、及び／又は第１壁面１における冷却媒体流路体７１との当接面に伝熱剤７２を配置してもよい。 Next, the operator attaches the cooling medium flow path body 71 to the first wall surface 1 of the first partition wall 31a (step S102). Specifically, the operator moves the cooling medium flow path body 71 so that the internal space of the cooling medium flow path body 71 inserts the motor 50, and moves the cooling medium flow path body 71 of the first partition wall 31a. It is brought into contact with the first wall surface 1. Then, the operator attaches (fixes) the cooling medium flow path body 71 to the first wall surface 1 with an appropriate member (for example, a bolt or the like). At this time, the operator arranges the heat transfer agent 72 on the contact surface of the cooling medium flow path body 71 with the first wall surface 1 and / or on the contact surface of the first wall surface 1 with the cooling medium flow path body 71. You may.
　なお、ステップＳ１０１の動作とステップＳ１０２の動作は、順不同である。 The operation of step S101 and the operation of step S102 are in no particular order.
　次に、作業者は、ステップＳ１０１でラジエータ７４、送出器７５、及びタンク７８を取り付けた基台７９をフランジ８０に取り付ける（ステップＳ１０３）。ついで、作業者は、冷却媒体循環流路７３を構成する配管により、冷却媒体流路体７１（冷却媒体流路７１ａの入口７１ｂ及び出口７１ｃ）、ラジエータ７４、及び送出器７５を接続する（ステップＳ１０４）。また、作業者は、第１流路７７を構成する配管により、タンク７８とラジエータ７４を接続する。さらに、作業者は、タンク７８等に冷却媒体を供給して、冷却装置７０のロボット１０１への取り付け作業を終了する。 Next, the operator attaches the base 79 to which the radiator 74, the transmitter 75, and the tank 78 are attached to the flange 80 in step S101 (step S103). Next, the operator connects the cooling medium flow path body 71 (inlet 71b and outlet 71c of the cooling medium flow path 71a), the radiator 74, and the transmitter 75 by the piping constituting the cooling medium circulation flow path 73 (step). S104). Further, the operator connects the tank 78 and the radiator 74 by the pipes constituting the first flow path 77. Further, the operator supplies the cooling medium to the tank 78 and the like, and finishes the work of attaching the cooling device 70 to the robot 101.
　このように構成された、本実施の形態１に係る冷却媒体流路体７１では、筒状又は環状に形成されている。これにより、その内部空間にモータ５０を挿通させるだけで、第１隔壁３１ａの第１壁面１に取り付けることができる。 The cooling medium flow path body 71 according to the first embodiment, which is configured in this way, is formed in a cylindrical shape or an annular shape. As a result, the motor 50 can be attached to the first wall surface 1 of the first partition wall 31a simply by inserting the motor 50 into the internal space.
　また、本実施の形態１に係る冷却媒体流路体７１（冷却装置７０）では、カバー部材３２を取り外すだけで、当該冷却媒体流路体７１（冷却装置７０）を関節部に取り付けることができる。すなわち、冷却媒体流路体７１（冷却装置７０）を関節部に取り付けるために、第Ｎリンク（第１リンク１１ａの本体部３１）及び第Ｎ＋１リンクを取り外す（解体する）必要がない。 Further, in the cooling medium flow path body 71 (cooling device 70) according to the first embodiment, the cooling medium flow path body 71 (cooling device 70) can be attached to the joint portion only by removing the cover member 32. .. That is, it is not necessary to remove (disassemble) the Nth link (main body 31 of the first link 11a) and the N + 1 link in order to attach the cooling medium flow path body 71 (cooling device 70) to the joint portion.
　このため、作業者が、既存のロボット（例えば、工場等に設置されているロボット）に対する、冷却媒体流路体７１（冷却装置７０）の取り付け作業を容易に実行することができる。 Therefore, the worker can easily execute the work of attaching the cooling medium flow path body 71 (cooling device 70) to the existing robot (for example, a robot installed in a factory or the like).
　また、本実施の形態１に係る冷却媒体流路体７１は、モータ５０の外方に配置されているため、モータ５０を冷却することができる。また、第１隔壁３１ａの第２壁面２に当接するように、減速装置６０が配置されているため、冷却媒体流路体７１は、第１隔壁３１ａからの伝熱により、減速装置６０も冷却することができる。 Further, since the cooling medium flow path body 71 according to the first embodiment is arranged outside the motor 50, the motor 50 can be cooled. Further, since the speed reducing device 60 is arranged so as to come into contact with the second wall surface 2 of the first partition wall 31a, the cooling medium flow path body 71 also cools the speed reducing device 60 by heat transfer from the first partition wall 31a. can do.
　このため、本実施の形態１に係る冷却媒体流路体７１（冷却装置７０）は、モータ５０と減速装置６０のそれぞれを冷却する冷却用部材を配置する必要がある、上記特許文献１に開示されている多関節型ロボットに比して、製造コストを低減することができる。 Therefore, the cooling medium flow path body 71 (cooling device 70) according to the first embodiment needs to be provided with cooling members for cooling each of the motor 50 and the speed reducing device 60, which is disclosed in Patent Document 1. The manufacturing cost can be reduced as compared with the articulated robots that have been used.
　さらに、本実施の形態１に係る冷却装置７０では、加熱された冷却媒体を冷却するためのラジエータ７４を備えていて、ロボット１０１の関節部内で、流路（冷却媒体流路７１ａ及び冷却媒体循環流路７３）が循環するように構成されている。 Further, the cooling device 70 according to the first embodiment includes a radiator 74 for cooling the heated cooling medium, and a flow path (cooling medium flow path 71a and cooling medium circulation) in the joint portion of the robot 101. The flow path 73) is configured to circulate.
　これにより、ロボット１０１の外部にまで、冷却媒体が通流する流路（配管）を設ける必要がなく、ロボット１０１のコンパクト化を図ることができるとともに、既存のロボットに対して、冷却装置７０の取り付け作業を容易にすることができる。 As a result, it is not necessary to provide a flow path (piping) through which the cooling medium flows to the outside of the robot 101, the robot 101 can be made compact, and the cooling device 70 can be compared with the existing robot. The installation work can be facilitated.
　すなわち、工場設備として、配管及び／又は冷却媒体の貯留槽を設置することなく、冷却装置７０をロボット１０１に設置することができる。このため、冷却装置７０のロボット１０１への取り付けるためのコストを低減することができる。 That is, the cooling device 70 can be installed on the robot 101 as factory equipment without installing a storage tank for piping and / or a cooling medium. Therefore, the cost for attaching the cooling device 70 to the robot 101 can be reduced.
　したがって、本実施の形態１に係る冷却媒体流路体７１（冷却装置７０）を備えるロボット１０１は、上記特許文献１に開示されている多関節型ロボットに比して、冷却効率がよく、また、製造コストを低減することができる。 Therefore, the robot 101 provided with the cooling medium flow path body 71 (cooling device 70) according to the first embodiment has better cooling efficiency and higher cooling efficiency than the articulated robot disclosed in Patent Document 1. , The manufacturing cost can be reduced.
　なお、本実施の形態１に係るロボット１０１は、冷却装置７０を覆うカバー部材を有していてもよい。 The robot 101 according to the first embodiment may have a cover member that covers the cooling device 70.
　［変形例１］
　本実施の形態１における変形例１の冷却装置は、第Ｎリンクを構成する第１隔壁には、モータが配置されていて、基台が、第Ｎリンクに取り付けられている。 [Modification 1]
In the cooling device of the first modification of the first embodiment, a motor is arranged on the first partition wall constituting the Nth link, and a base is attached to the Nth link.
　以下、本実施の形態１における変形例１のロボットの一例について、図５を参照しながら説明する。 Hereinafter, an example of the robot of the modified example 1 in the first embodiment will be described with reference to FIG.
　図５は、本実施の形態１における変形例１のロボットの概略構成を示す模式図である。 FIG. 5 is a schematic diagram showing a schematic configuration of the robot of the modified example 1 in the first embodiment.
　図５に示すように、本変形例１のロボット１０１は、実施の形態１に係るロボットシステム１００と基本的構成は同じであるが、基台７９及びフランジ８０が、第１リンク１１ａ（ここでは、突出部３１ｃ）に取り付けられている点が異なる。 As shown in FIG. 5, the robot 101 of the present modification 1 has the same basic configuration as the robot system 100 according to the first embodiment, but the base 79 and the flange 80 have the first link 11a (here, the first link 11a). , The difference is that it is attached to the protruding portion 31c).
　このように構成された、本変形例１のロボット１０１であっても、実施の形態１に係るロボット１０１と同様の作用効果を奏する。 Even the robot 101 of the present modification 1 configured in this way has the same action and effect as the robot 101 according to the first embodiment.
　（実施の形態２）
　本実施の形態２に係る冷却装置のロボットへの取り付け方法は、ロボットの関節部に用いられる冷却装置の取り付け方法であって、ロボットの関節部は、第Ｎリンクを構成する第１隔壁と第Ｎ＋１リンクを構成する第２隔壁を有し、第１隔壁の第Ｎリンク側の壁面である第１壁面には、筒状の突出部が形成されていて、かつ、モータが突出部の内方に位置するように配置されていて、第１隔壁の第Ｎ＋１リンク側の壁面である第２壁面には、減速装置が配置されていて、冷却装置は、環状、又は筒状に形成され、その内部に冷却媒体が通流する冷却媒体流路が形成されている、冷却媒体流路体と、冷却媒体流路体に接続されている冷却媒体循環流路と、ラジエータと、送出器と、ファンと、基台と、を備え、ラジエータ及び送出器は、冷却媒体循環流路の途中に設けられていて、ファンは、ラジエータを空冷するように構成されていて、冷却媒体流路体の内部空間がモータを挿通するように、かつ、当該冷却媒体流路体を第１隔壁の第１壁面に当接させる（Ｅ）と、基台を本体部及び／又はモータに取り付ける（Ｆ）と、基台にラジエータ、送出器、及びファンを取り付ける（Ｇ）と、冷却媒体流路体、ラジエータ、及び送出器を冷却媒体循環流路で接続する（Ｈ）と、を備える。 (Embodiment 2)
The method of attaching the cooling device to the robot according to the second embodiment is a method of attaching the cooling device used for the joint portion of the robot, and the joint portion of the robot includes the first partition wall and the first partition wall constituting the Nth link. The first wall surface, which has the second partition wall forming the N + 1 link and is the wall surface on the N link side of the first partition wall, has a tubular protrusion formed and the motor is inside the protrusion. A speed reducing device is arranged on the second wall surface, which is a wall surface on the N + 1 link side of the first partition wall, and the cooling device is formed in an annular shape or a tubular shape. A cooling medium flow path body through which a cooling medium flows is formed inside, a cooling medium circulation flow path connected to the cooling medium flow path body, a radiator, a transmitter, and a fan. The radiator and the transmitter are provided in the middle of the cooling medium circulation flow path, and the fan is configured to air-cool the radiator, and the internal space of the cooling medium flow path body is provided. When the cooling medium flow path body is brought into contact with the first wall surface of the first partition wall (E), the base is attached to the main body and / or the motor (F). It includes (G) attaching a radiator, a transmitter, and a fan to the table, and (H) connecting the cooling medium flow path body, the radiator, and the transmitter with a cooling medium circulation flow path.
　以下、本実施の形態２に係る冷却装置のロボットへの取り付け方法の一例について、図６を参照しながら説明する。なお、本実施の形態２に係る冷却装置のロボットへの取り付け方法に用いられる、冷却媒体流路体、冷却装置、及びロボットは、実施の形態１に係るロボット、又は変形例１のロボットと同様に構成されているので、その詳細な説明は省略する。 Hereinafter, an example of a method of attaching the cooling device according to the second embodiment to the robot will be described with reference to FIG. The cooling medium flow path body, the cooling device, and the robot used in the method of attaching the cooling device according to the second embodiment to the robot are the same as the robot according to the first embodiment or the robot of the modified example 1. Since it is configured in, detailed description thereof will be omitted.
　図６は、本実施の形態２に係る冷却装置の取り付け方法の一例を示すフローチャートである。 FIG. 6 is a flowchart showing an example of a method of attaching the cooling device according to the second embodiment.
　なお、既存の設備等に配置されているロボットには、本実施の形態２に係る冷却装置７０が取り付けられていないものとし、当該ロボットに冷却装置７０を取り付ける作業を以下に説明する。 It is assumed that the cooling device 70 according to the second embodiment is not attached to the robot arranged in the existing equipment or the like, and the work of attaching the cooling device 70 to the robot will be described below.
　図６に示すように、作業者は、基台７９をフランジ８０に取り付ける（ステップＳ２０１）。ついで、作業者は、冷却媒体流路体７１を第１隔壁３１ａの第１壁面１に取り付ける（ステップＳ２０２）。なお、ステップＳ２０１の動作とステップＳ２０２の動作は、順不同である。 As shown in FIG. 6, the operator attaches the base 79 to the flange 80 (step S201). Then, the operator attaches the cooling medium flow path body 71 to the first wall surface 1 of the first partition wall 31a (step S202). The operation of step S201 and the operation of step S202 are in no particular order.
　次に、作業者は、基台７９にラジエータ７４、送出器７５、及びタンク７８を取り付ける（ステップＳ２０３）。ついで、作業者は、冷却媒体循環流路７３を構成する配管により、冷却媒体流路体７１（冷却媒体流路７１ａの入口７１ｂ及び出口７１ｃ）、ラジエータ７４、及び送出器７５を接続する（ステップＳ２０４）。また、作業者は、第１流路７７を構成する配管により、タンク７８とラジエータ７４を接続する。さらに、作業者は、タンク７８等に冷却媒体を供給して、冷却装置７０のロボット１０１への取り付け作業を終了する。 Next, the operator attaches the radiator 74, the transmitter 75, and the tank 78 to the base 79 (step S203). Next, the operator connects the cooling medium flow path body 71 (inlet 71b and outlet 71c of the cooling medium flow path 71a), the radiator 74, and the transmitter 75 by the piping constituting the cooling medium circulation flow path 73 (step). S204). Further, the operator connects the tank 78 and the radiator 74 by the pipes constituting the first flow path 77. Further, the operator supplies the cooling medium to the tank 78 and the like, and finishes the work of attaching the cooling device 70 to the robot 101.
　このように構成された、本実施の形態２に係るロボット１０１（冷却装置７０）であっても、実施の形態１に係るロボット１０１（冷却装置７０）と同様の作用効果を奏する。 Even the robot 101 (cooling device 70) according to the second embodiment, which is configured in this way, has the same effect as the robot 101 (cooling device 70) according to the first embodiment.
　上記説明から、当業者にとっては、本発明の多くの改良又は他の実施形態が明らかである。従って、上記説明は、例示としてのみ解釈されるべきであり、本発明を実行する最良の態様を当業者に教示する目的で提供されたものである。本発明を逸脱することなく、その構造及び／又は機能の詳細を実質的に変更できる。 From the above description, many improvements or other embodiments of the present invention will be apparent to those skilled in the art. Therefore, the above description should be construed as an example only and is provided for the purpose of teaching those skilled in the art the best aspects of carrying out the present invention. The details of its structure and / or function can be substantially changed without departing from the present invention.
　本発明のロボット及び冷却装置のロボットへの取り付け方法によれば、作業者の負担を軽減して、冷却装置の取り付け作業の効率を向上させることができる、及び／又は製造コストを低減することができるため、ロボットの分野において有用である。 According to the method of attaching the robot and the cooling device to the robot of the present invention, it is possible to reduce the burden on the operator, improve the efficiency of the attaching work of the cooling device, and / or reduce the manufacturing cost. Because it can be done, it is useful in the field of robots.
　１　第１壁面
　２　第２壁面
　３　内周面
　５　外周面
　７ａ　外周面
　７ｂ　内周面
　１１ａ　第１リンク
　１１ｂ　第２リンク
　１１ｃ　第３リンク
　１１ｄ　第４リンク
　１１ｅ　第５リンク
　１１ｆ　第６リンク
　１５　基台
　２０　エンドエフェクタ
　３１ａ　第１隔壁
　３１ｂ　貫通孔
　３１ｃ　突出部
　３１　本体部
　４０　凹部
　４２　第２隔壁
　５０　モータ
　５１　出力軸
　６０　減速装置
　７０　冷却装置
　７１　冷却媒体流路体
　７１ａ　冷却媒体流路
　７１ｂ　入口
　７１ｃ　出口
　７２　伝熱剤
　７３　冷却媒体循環流路
　７４　ラジエータ
　７５　送出器
　７６　ファン
　７７　第１流路
　７８　タンク
　７９　基台
　８０　フランジ
　１０１　ロボット
　１１１　制御装置
　１１１ａ　演算処理器
　１１１ｂ　記憶器
　ＪＴ１　第１関節
　ＪＴ２　第２関節
　ＪＴ３　第３関節
　ＪＴ４　第４関節
　ＪＴ５　第５関節
　ＪＴ６　第６関節 1 1st wall surface 2 2nd wall surface 3 Inner peripheral surface 5 Outer peripheral surface 7a Outer peripheral surface 7b Inner peripheral surface 11a 1st link 11b 2nd link 11c 3rd link 11d 4th link 11e 5th link 11f 6th link 15 base 20 End effector 31a 1st partition 31b Through hole 31c Protrusion 31 Main body 40 Recess 42 2nd partition 50 Motor 51 Output shaft 60 Deceleration device 70 Cooling device 71 Cooling medium flow path body 71a Cooling medium flow path 71b Inlet 71c Outlet 72 Heat transfer Agent 73 Cooling medium Circulation flow path 74 Radiator 75 Transmitter 76 Fan 77 First flow path 78 Tank 79 Base 80 Flange 101 Robot 111 Control device 111a Arithmetic processor 111b Storage device JT1 1st joint JT2 2nd joint JT3 3rd joint JT4 4th joint JT5 5th joint JT6 6th joint

Claims (8)

  1. 　第Ｎリンクと、
    　第Ｎ＋１リンクと、
    　前記第Ｎリンクと前記第Ｎ＋１リンクとの間に形成されている関節部と、
    　前記関節部に配置されている冷却装置と、を備え、
    　前記第Ｎリンクを構成する第１隔壁の当該第Ｎリンク側の壁面である第１壁面には、前記モータが配置されていて、
    　前記第１隔壁の前記第Ｎ＋１リンク側の壁面である第２壁面には、減速装置が配置されていて、
    　前記冷却装置は、環状、又は筒状に形成され、その内部に冷却媒体が通流する冷却媒体流路が形成されている、冷却媒体流路体と、前記冷却媒体流路体に接続されている冷却媒体循環流路と、ラジエータと、送出器と、ファンと、を有し、
    　前記ラジエータ及び前記送出器は、前記冷却媒体循環流路の途中に設けられていて、
    　前記ファンは、前記ラジエータを空冷するように構成され、
    　前記冷却媒体流路体は、前記モータを囲むように、前記第１壁面に配設されている、ロボット。     Nth link and
    N + 1 link and
    A joint formed between the Nth link and the N + 1 link,
    A cooling device arranged at the joint portion is provided.
    The motor is arranged on the first wall surface, which is the wall surface on the Nth link side of the first partition wall constituting the Nth link.
    A speed reducing device is arranged on the second wall surface, which is the wall surface on the N + 1 link side of the first partition wall.
    The cooling device is connected to a cooling medium flow path body in which a cooling medium flow path through which a cooling medium passes is formed, which is formed in an annular shape or a tubular shape, and the cooling medium flow path body. It has a cooling medium circulation flow path, a radiator, a transmitter, and a fan.
    The radiator and the transmitter are provided in the middle of the cooling medium circulation flow path.
    The fan is configured to air cool the radiator.
    A robot in which the cooling medium flow path body is arranged on the first wall surface so as to surround the motor.
  2. 　前記第１隔壁の第１壁面には、突出部が設けられていて、
    　前記冷却媒体流路体は、外周面が前記突出部の内周面よりも内方に位置し、かつ、内周面が前記モータの外周面よりも外方に位置するように構成されている、請求項１に記載のロボット。     A protrusion is provided on the first wall surface of the first partition wall.
    The cooling medium flow path body is configured such that the outer peripheral surface is located inward of the inner peripheral surface of the protruding portion and the inner peripheral surface is located outward of the outer peripheral surface of the motor. , The robot according to claim 1.
  3. 　前記突出部は、筒状に形成されている、請求項２に記載のロボット。 The robot according to claim 2, wherein the protruding portion is formed in a cylindrical shape.
  4. 　前記ロボットは、多軸垂直多関節ロボットであり、
    　前記ロボットの基端側の関節軸を１軸と定義した場合に、
    　前記冷却装置は、前記ロボットの１軸～３軸のうち、少なくとも１つの関節軸に配置されている、請求項１～３のいずれか１項に記載のロボット。     The robot is a multi-axis vertical articulated robot.
    When the joint axis on the base end side of the robot is defined as one axis,
    The robot according to any one of claims 1 to 3, wherein the cooling device is arranged on at least one joint axis among the 1st to 3rd axes of the robot.
  5. 　前記冷却媒体流路体と前記第１壁面との間には、伝熱剤が配置されている、請求項１～４のいずれか１項に記載のロボット。 The robot according to any one of claims 1 to 4, wherein a heat transfer agent is arranged between the cooling medium flow path body and the first wall surface.
  6. 　前記冷却媒体循環流路は、前記第Ｎリンク内に配置されている、請求項１～５のいずれか１項に記載のロボット。 The robot according to any one of claims 1 to 5, wherein the cooling medium circulation flow path is arranged in the Nth link.
  7. 　ロボットの関節部に用いられる冷却装置の取り付け方法であって、
    　前記ロボットの関節部は、第Ｎリンクを構成する第１隔壁と第Ｎ＋１リンクを構成する第２隔壁を有し、
    　前記第１隔壁の前記第Ｎリンク側の壁面である第１壁面には、筒状の突出部が形成されていて、かつ、前記モータが前記突出部の内方に位置するように配置されていて、
    　前記第１隔壁の前記第Ｎ＋１リンク側の壁面である第２壁面には、減速装置が配置されていて、
    　前記冷却装置は、環状、又は筒状に形成され、その内部に冷却媒体が通流する冷却媒体流路が形成されている、冷却媒体流路体と、前記冷却媒体流路体に接続されている冷却媒体循環流路と、ラジエータと、送出器と、ファンと、基台と、を備え、
    　前記ラジエータ及び前記送出器は、前記冷却媒体循環流路の途中に設けられていて、
    　前記ファンは、前記ラジエータを空冷するように構成されていて、
    　前記基台に前記ラジエータ、前記送出器、及び前記ファンを取り付ける（Ａ）と、
    　前記冷却媒体流路体の内部空間が前記モータを挿通するように、かつ、当該冷却媒体流路体を前記第１隔壁の前記第１壁面に当接させる（Ｂ）と、
    　前記ラジエータ、前記送出器、及び前記ファンが取り付けられた前記基台を前記本体部及び／又は前記モータに取り付ける（Ｃ）と、
    　前記冷却媒体流路体、前記ラジエータ、及び前記送出器を前記冷却媒体循環流路で接続する（Ｄ）と、を備える、ロボットの関節部に用いられる冷却装置の取り付け方法。     It is a method of attaching a cooling device used for the joints of a robot.
    The joint portion of the robot has a first partition wall forming the Nth link and a second partition wall forming the N + 1 link.
    A cylindrical protrusion is formed on the first wall surface of the first partition wall on the N-link side, and the motor is arranged so as to be located inside the protrusion. hand,
    A speed reducing device is arranged on the second wall surface, which is the wall surface on the N + 1 link side of the first partition wall.
    The cooling device is connected to a cooling medium flow path body in which a cooling medium flow path through which a cooling medium passes is formed, which is formed in an annular shape or a tubular shape, and the cooling medium flow path body. It is equipped with a cooling medium circulation flow path, a radiator, a transmitter, a fan, and a base.
    The radiator and the transmitter are provided in the middle of the cooling medium circulation flow path.
    The fan is configured to air cool the radiator.
    When the radiator, the transmitter, and the fan are attached to the base (A),
    When the internal space of the cooling medium flow path body is inserted into the motor and the cooling medium flow path body is brought into contact with the first wall surface of the first partition wall (B),
    When the radiator, the transmitter, and the base to which the fan is attached are attached to the main body and / or the motor (C),
    A method of attaching a cooling device used for a joint portion of a robot, comprising: (D) connecting the cooling medium flow path body, the radiator, and the transmitter by the cooling medium circulation flow path.
  8. 　ロボットの関節部に用いられる冷却装置の取り付け方法であって、
    　前記ロボットの関節部は、第Ｎリンクを構成する第１隔壁と第Ｎ＋１リンクを構成する第２隔壁を有し、
    　前記第１隔壁の前記第Ｎリンク側の壁面である第１壁面には、筒状の突出部が形成されていて、かつ、前記モータが前記突出部の内方に位置するように配置されていて、
    　前記第１隔壁の前記第Ｎ＋１リンク側の壁面である第２壁面には、減速装置が配置されていて、
    　前記冷却装置は、環状、又は筒状に形成され、その内部に冷却媒体が通流する冷却媒体流路が形成されている、冷却媒体流路体と、前記冷却媒体流路体に接続されている冷却媒体循環流路と、ラジエータと、送出器と、ファンと、基台と、を備え、
    　前記ラジエータ及び前記送出器は、前記冷却媒体循環流路の途中に設けられていて、
    　前記ファンは、前記ラジエータを空冷するように構成されていて、
    　前記冷却媒体流路体の内部空間が前記モータを挿通するように、かつ、当該冷却媒体流路体を前記第１隔壁の前記第１壁面に当接させる（Ｅ）と、
    　前記基台を前記本体部及び／又は前記モータに取り付ける（Ｆ）と、
    　前記基台に前記ラジエータ、前記送出器、及び前記ファンを取り付ける（Ｇ）と、
    　前記冷却媒体流路体、前記ラジエータ、及び前記送出器を前記冷却媒体循環流路で接続する（Ｈ）と、を備える、ロボットの関節部に用いられる冷却装置の取り付け方法。     It is a method of attaching a cooling device used for the joints of a robot.
    The joint portion of the robot has a first partition wall forming the Nth link and a second partition wall forming the N + 1 link.
    A cylindrical protrusion is formed on the first wall surface of the first partition wall on the N-link side, and the motor is arranged so as to be located inside the protrusion. hand,
    A speed reducing device is arranged on the second wall surface, which is the wall surface on the N + 1 link side of the first partition wall.
    The cooling device is connected to a cooling medium flow path body in which a cooling medium flow path through which a cooling medium passes is formed, which is formed in an annular shape or a tubular shape, and the cooling medium flow path body. It is equipped with a cooling medium circulation flow path, a radiator, a transmitter, a fan, and a base.
    The radiator and the transmitter are provided in the middle of the cooling medium circulation flow path.
    The fan is configured to air cool the radiator.
    When the internal space of the cooling medium flow path body is inserted into the motor and the cooling medium flow path body is brought into contact with the first wall surface of the first partition wall (E),
    When the base is attached to the main body and / or the motor (F),
    When the radiator, the transmitter, and the fan are attached to the base (G),
    A method of attaching a cooling device used for a joint portion of a robot, comprising: (H) connecting the cooling medium flow path body, the radiator, and the transmitter by the cooling medium circulation flow path.
PCT/JP2021/010631 2020-03-23 2021-03-16 Robot and method for attaching cooling device to robot WO2021193242A1 (en)

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JP2011182480A (en) * 2010-02-26 2011-09-15 Hitachi Automotive Systems Ltd Rotary electric machine system
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