CN102729259B - Robot - Google Patents
Robot Download PDFInfo
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- CN102729259B CN102729259B CN201210106864.2A CN201210106864A CN102729259B CN 102729259 B CN102729259 B CN 102729259B CN 201210106864 A CN201210106864 A CN 201210106864A CN 102729259 B CN102729259 B CN 102729259B
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- Prior art keywords
- circuit board
- drive circuit
- robot
- base
- elastic member
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- 230000005855 radiation Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 239000000758 substrate Substances 0.000 abstract description 5
- 230000000694 effects Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000017525 heat dissipation Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
The invention provides a kind of robot, it possesses: make the motor that rotating shaft rotates relative to base station and the drive circuit substrate being formed with the drive circuit to the decomposer that the anglec of rotation of motor detects, this drive circuit substrate is with the state of the installed surface of drive circuit substrate and base deck contact, via by this drive circuit substrate and this base station clips, the elastomeric element with heat conductivity, be installed to be and can move relative to the base station of this robot.
Description
Technical Field
The present invention relates to a robot in which a drive circuit board for driving a resolver is disposed on a base.
Background
Conventionally, for example, as described in patent document 1, a robot having a resolver mounted as a rotation angle sensor of a motor is known. In this robot, if the electric connection between the robot and the controller is cut off to cut off the drive power supply to the motor and the resolver, even if the output shaft of the motor rotates by an external force, the rotational angle of the motor cannot be detected by the resolver. Therefore, in patent document 1, a backup battery is connected to the drive circuit board of the resolver so that the rotation angle of the motor can be detected even when the drive power supply to the motor and the resolver is cut off. With this configuration, when the driving power supply from the controller is cut off, the driving power supply from the backup battery can be supplied to the resolver, and therefore the rotation angle of the motor can be detected when the power supply is cut off.
Patent document 1: japanese laid-open patent publication No. 8-305432
In patent document 1, in order to improve the stability of the operation of the driving circuit board of the resolver, the driving circuit board of the resolver is disposed at a position away from the motor so as to suppress the transmission of vibration from the motor and heat from the motor to the driving circuit board. On the other hand, in recent years, robots with remarkable speed-up results have appeared, and along with this, vibration from motors, heat from motors, and heat generation of drive circuit boards themselves have increased dramatically compared to conventional ones. Therefore, the countermeasure for disposing the drive circuit board at a position away from the motor cannot ensure the operational stability of the drive circuit board, and a more effective countermeasure is strongly demanded.
Disclosure of Invention
The present invention has been made in view of the above circumstances, and an object thereof is to provide a robot in which a drive circuit board for driving a resolver is mounted, the robot being capable of improving stability of operation of the drive circuit board.
The robot of the present invention includes: the resolver includes a base, a movable portion movable relative to the base, a motor for moving the movable portion relative to the base, a resolver for detecting a rotation angle of the motor, and a drive circuit board for driving the resolver, the drive circuit board being attached to the base via a heat-conductive flat plate-shaped elastic member, one surface of the drive circuit board being in surface contact with one surface of the elastic member, and the other surface of the elastic member being in surface contact with the base.
According to this robot, even if vibration caused by driving of the motor is transmitted to the drive circuit board via the base of the robot, the vibration in the thickness direction and the vibration in the plane direction of the elastic member are absorbed by the elasticity of the elastic member. In addition, the drive circuit board is usually provided in a state of being lifted from the base of the robot, and by providing the elastic member having thermal conductivity in contact with the drive circuit board and the base surface of the robot as in the above-described configuration, the heat of the circuit board is transmitted to the base of the robot through the elastic member, and therefore, the thermal conductivity between the drive circuit board and the base of the robot is improved. That is, by interposing a thermally conductive elastic member between the drive circuit board and the robot base, it is possible to suppress the generation of vibration in the drive circuit board, and the heat of the drive circuit board is easily dissipated from the robot base. Therefore, the mechanical load and the thermal load on the driver circuit board are reduced, and the stability of the operation of the driver circuit board can be improved.
In this robot, the elastic member is preferably an insulating member.
If the elastic member has conductivity, it is necessary to form wiring on the drive circuit board so as to avoid a contact portion with the elastic member, and therefore, the degree of freedom in designing the drive circuit board is greatly reduced. In this respect, according to the above configuration, since the elastic member is an insulating member, the wiring can be formed at the contact portion with the elastic member, and the degree of freedom in designing the driving circuit board can be improved.
In the robot, the elastic member is preferably in surface contact with one surface of the drive circuit board over the entire area of the one surface.
Although the elastic member is in surface contact with one surface of the drive circuit board, the smaller the contact area with the one surface, the lower the thermal conductivity between the drive circuit board and the base of the robot. In this respect, according to the above configuration, since the elastic member is in surface contact with the one surface of the driver circuit board over the entire area of the one surface, the thermal conductivity between the driver circuit board and the elastic member can be improved.
In the robot, it is preferable that the base has a side surface extending in a direction intersecting with a bottom surface of the base, and the drive circuit board is mounted on the side surface via the elastic member.
Foreign matter falling from above is likely to adhere to the driving circuit board arranged in the horizontal direction. In view of this, according to the above configuration, for example, when the base is disposed on a horizontal plane or a plane close to the horizontal plane, the driver circuit board is disposed in a direction intersecting the horizontal direction, and therefore, it is possible to make it more difficult for foreign substances to adhere to the driver circuit board disposed in the horizontal direction.
In this robot, the drive circuit board is provided inside the base, and a heat sink for heat dissipation is provided on an outer surface of the base in a range corresponding to a contact portion with the elastic member.
By providing the heat radiating fins for heat radiation on the base as in this robot, the heat radiation performance of the base of the robot can be improved. Further, since the heat radiation fin for heat radiation is provided in a range corresponding to the contact portion with the elastic member, the heat from the driver circuit board via the elastic member can be preferentially radiated from the heat radiation fin for heat radiation. This enables the heat of the driver circuit board to be efficiently dissipated.
Preferably, the robot includes a battery that becomes a power source of the drive circuit board when an electrical connection between the robot and a controller that controls the robot is disconnected, and the drive circuit board includes a storage unit that stores a rotation angle of the motor based on a detection signal from the resolver.
According to this robot, even when the robot and the controller are electrically disconnected from each other, the resolver can be driven using the battery as a power source, and the absolute position of the motor during disconnection can be stored in the storage unit of the drive circuit board.
Drawings
Fig. 1 is a perspective view showing a schematic configuration of a robot system including a robot according to an embodiment of the present invention.
Fig. 2 is a cross-sectional view taken along line a-a in fig. 1, and is a view showing a part of the structural members omitted.
Fig. 3 is a cross-sectional view taken along line B-B in fig. 1, and is a view showing a part of the structural members omitted.
Fig. 4 is a sectional perspective view showing an example of an installation manner of a heat sink in a modification, and is a view showing a part of the components omitted.
Fig. 5 is a cross-sectional view showing an example of a base provided with a lead-out portion for introducing outside air into an internal space in a modification, and is a view showing a part of components omitted.
Detailed Description
An embodiment of a robot according to the present invention will be described below with reference to fig. 1 to 3. As shown in fig. 1, a controller 5 constituting the robot system 1 is connected to a main power supply 6 that supplies power to the controller 5. The robot 10 is connected to the controller 5 via connection lines 7a and 7b and connectors 8a and 8b. Then, the power drive controller 5 supplied by the main power supply 6 supplies a drive power supply to the robot 10 and transmits and receives various signals to and from the robot 10 and the controller 5.
The base 11 of the robot 10 is formed in a box shape made of metal such as aluminum having high thermal conductivity, and is disposed on a disposition surface, not shown, parallel to a horizontal plane in a device using the robot 10. A rotation shaft 15 is connected to the top 14 of the base 11, and the rotation shaft 15 is rotatable with respect to the base 11 about a rotation center line C1 extending in the vertical direction. The rotation shaft 15 is coupled to an output shaft of a 1 st motor M1 provided in the base 11, and the 1 st motor M1 rotates forward and backward, so that the rotation shaft 15 rotates relative to the base 11. The base end portion of the 1 st arm 16 is coupled and fixed to the rotary shaft 15, and the 1 st motor M1 rotates forward and backward, so that the 1 st arm 16 rotates in a horizontal plane with respect to the base 11 about the rotation center line C1.
A support shaft 17 is coupled and fixed to a distal end portion of the 1 st arm 16. The support shaft 17 supports the 2 nd arm 18 to be rotatable about a rotation center line C2 extending in the vertical direction with respect to the support shaft 17. A 2 nd motor M2 is fixedly provided at the base end portion of the 2 nd arm 18, and the output shaft of the 2 nd motor M2 is coupled to the support shaft 17 via a gear or the like. The 2 nd motor M2 rotates forward and backward, receives a reaction force from the support shaft 17, and the 2 nd arm 18 rotates in a horizontal plane about the rotation center line C2 with respect to the 1 st arm 16 by the reaction force.
A top and bottom rotation shaft 19 penetrating the 2 nd arm 18 is provided at the tip end of the 2 nd arm 18. The vertical rotation shaft 19 is supported by the 2 nd arm 18 so as to be rotatable and movable in the vertical direction with respect to the 2 nd arm 18. Further, the vertical rotation shaft 19 is raised and lowered along the rotation center line C3 in the vertical direction by rotating the raising and lowering motor M3 provided in the 2 nd arm 18 in the normal and reverse directions. The vertical rotation shaft 19 is rotated forward and backward around its own rotation center line C4 in the vertical direction by rotating the rotation motor M4 provided in the 2 nd arm 18 forward and backward. Tools such as a robot for gripping a conveyed object and a robot for processing a processed object can be attached to the working unit 20 of the vertical rotation shaft 19. The various harnesses connected to these 2 nd motor M2, lift motor M3, and rotation motor M4 are wired from the 2 nd arm 18 to the base 11 via the pipe member 21 connected to the upper end of the 2 nd arm 18 and the ceiling portion 14 of the base 11.
The 1 st motor M1 incorporates a resolver R1 for detecting an absolute position, which is a rotation angle of the output shaft of the 1 st motor M1. The resolver R1 is connected to the drive circuit board 25 disposed inside the base 11, and is driven by a drive power supply output from the drive circuit board 25. Further, resolvers R2, R3, and R4 for detecting the absolute position, which is the rotation angle of the output shaft of the motor, are incorporated in the 2 nd motor M2, the lifting motor M3, and the rotating motor M4, respectively. The resolvers R2 to R4 are connected to the drive circuit board 25 via pipe members 21 connected to the upper end of the 2 nd arm 18 and the top 14 of the base 11, and are driven by a drive power supply output from the drive circuit board 25. When the drive circuit board 25 is driven by the power supplied from the controller 5, the resolvers R1 to R4 each output a detection signal indicating the absolute position of the output shaft of the motor to the drive circuit board 25. The drive circuit board 25 converts the detection signals from the resolvers R1 to R4, which are analog signals, into digital signals, and outputs the converted digital signals to the controller 5.
A memory unit is mounted on the drive circuit board 25, and stores the absolute positions of the motors M1 to M4 detected by the resolvers R1 to R4 at predetermined intervals. A battery 26 for supplying power to the drive circuit board 25 is disposed inside the base 11. When the power supply from the controller 5 is cut off, the battery 26 supplies power for driving the drive circuit board 25 to the drive circuit board 25. When the power supply from the controller 5 is cut off, the battery 26 supplies the driving power supply to the driving circuit board 25, and the driving circuit board 25 drives the resolvers R1 to R4. Thus, while the power supply from the controller 5 is cut off, the drive circuit board 25 continues to store the absolute positions of the motors M1 to M4 in the storage unit. When power is supplied again from the controller 5, the drive circuit board 25 outputs signals indicating the absolute positions of the motors M1 to M4 stored in the storage unit to the controller 5.
Next, a mounting method of the driver circuit board 25 will be described with reference to fig. 2 and 3. As shown in fig. 2, a drive circuit board 25 is mounted on the inner surface 13a of the side portion 13 of the base 11 extending in the vertical direction along the inner surface 13a. The drive circuit board 25 has a rectangular mounting surface 27 facing the inside of the base 11, and a connector 28 connected to the connection lines 7a and 7b and a plurality of electronic components not shown are mounted on the mounting surface 27. Through holes 29 penetrating the driver circuit board 25 are formed in 4 corners of the mounting surface 27, and screw members screwed into the side portions 13 of the base 11 are loosely inserted into the 4 through holes 29.
Between the mounting surface 30, which is the side surface of the drive circuit board 25 opposite to the mounting surface 27, and the inner surface 13a of the base 11, a rectangular flat plate-shaped elastic member 33 is interposed in surface contact with the mounting surface 30 and the inner surface 13a. The elastic member 33 is an insulating member formed to have substantially the same size as the drive circuit board 25 and having thermal conductivity, and the elastic member 33 is in surface contact with the mounting surface 30 of the drive circuit board 25 over the entire area thereof. In the elastic member 33, 4 through holes, not shown, into which the screw members are loosely inserted are formed at positions facing the through holes 29.
The elastic force of the elastic member 33 acts on the drive circuit board 25 from the side portion 13 toward the drive circuit board 25, and the pressing force generated by the head of the screw member acts on the drive circuit board 25 from the drive circuit board 25 toward the side portion 13. At this time, the drive circuit board 25 is movable within a range in which the screw member moves with respect to the through hole 29, and the drive circuit board 25 is positioned at a position where the elastic force and the pressing force are balanced. In other words, the driver circuit board 25 can move the amount of the screw member loosely inserted into the through hole 29 or the amount of the elastic member 33 elastically deformed with respect to the base 11.
The elastic member 33 having such a structure preferably has an Asker C-type hardness of 30 or less and a thermal conductivity of 1[ W/m.K ] as specified in SRIS0101 (standard specification of the Japan rubber Association)]The above. Examples of the elastic member satisfying such conditions include "TMS-22" (Asker C type hardness of 25, thermal conductivity of 2.2W/m · K.) manufactured by TAKEUCHI INDUSTRY co]Volume resistivity of 1.0X 1012[Ω·cm]) "FEATHER-S3S" (Asker C-type hardness of 5, thermal conductivity of 2[ W/m.K. ] manufactured by POLYMATECH Co., Ltd.)])。
Next, the operation of the elastic member 33 interposed between the drive circuit board 25 and the side portion 13 will be described.
In the robot 10 having the above-described configuration, vibrations generated by the driving of the motors M1 to M4 are transmitted to the base 11 via the arms 16 and 18 of the robot 10. At this time, of the vibrations transmitted from the base 11 to the drive circuit board 25, the vibrations in the thickness direction of the elastic member 33 are absorbed by the elasticity of the elastic member 33. Further, since the screw member is loosely inserted into the through hole 29, the elastic member 33 absorbs the vibration in the planar direction of the mounting surface 27 among the vibrations transmitted from the base 11 to the driver circuit board 25. Further, even if the operator applies a force to bend the drive circuit board 25 during maintenance of the robot 10, for example, when the operator releases the connection between the connectors 28 of the drive circuit board 25 and the harness, the force is dispersed to the drive circuit board 25 and the elastic member 33.
The drive circuit board 25 is normally provided in a state where the mounting surface 30 of the drive circuit board 25 is raised from the inner side surface 13a of the base 11, but since the elastic member 33 having thermal conductivity is interposed between the drive circuit board 25 and the base 11, the heat of the drive circuit board 25 is transmitted to the base 11 of the robot 10 through the elastic member 33, and thus the thermal conductivity between the drive circuit board 25 and the base 11 is improved. Further, since the elastic member 33 is in surface contact with the mounting surface 30 over the entire area thereof, the thermal conductivity between the drive circuit board 25 and the elastic member 33 is improved as compared with a case where the elastic member 33 is in surface contact with a part of the mounting surface 30.
Since the elastic member 33 that exerts the above-described action is an insulating member, the wiring may be formed on the mounting surface 30 of the drive circuit board 25 at the portion in contact with the elastic member 33.
As described above, according to the robot 10 of the present embodiment, the following effects can be obtained.
(1) According to the above embodiment, the mechanical load and the thermal load of the drive circuit board 25 can be reduced by providing the thermally conductive elastic member 33 in contact with the mounting surface 30 of the drive circuit board 25 and the inner side surfaces 13a of the side portions 13. As a result, the stability of the operation of the driver circuit board 25 can be improved.
(2) Since the elastic member 33 of the above embodiment is an insulating member, the degree of freedom in designing the drive circuit board 25 can be improved as compared with the case where the elastic member 33 has conductivity.
(3) In the above embodiment, the elastic member 33 is in surface contact with the mounting surface 30 of the drive circuit board 25 over the entire area thereof, so that the thermal conductivity between the drive circuit board 25 and the elastic member 33 is improved, and therefore, the heat of the drive circuit board 25 can be easily absorbed by the elastic member 33. As a result, the heat load on the driver circuit board 25 can be further reduced.
(4) In the above embodiment, the drive circuit board 25 is mounted on the inner side surface 13a of the side portion 13 extending in the vertical direction, and therefore, the drive circuit board 25 is disposed such that the mounting surface 27 thereof is in the vertical direction. According to such a configuration, it is possible to suppress foreign matter generated in the base 11 from falling down and adhering to the drive circuit board 25, as compared with a drive circuit board in which the mounting surface 27 is arranged along a horizontal plane.
(5) The robot 10 of the above embodiment is mounted with a battery 26, and when the power supply from the controller 5 is cut off, the battery 26 supplies power to the resolvers R1 to R4. A storage unit for storing absolute positions of the motors M1 to M4 based on detection signals from the resolvers R1 to R4 driven by the battery 26 is provided on the drive circuit board forming the drive circuit board 25. With this configuration, even while the electrical connection between the controller 5 and the robot 10 is interrupted, the resolvers R1 to R4 can be driven, and the absolute positions of the motors M1 to M4 can be stored in the storage unit.
The above embodiment may be modified as follows.
In the above embodiment, a heat sink may be provided on the base 11. This structure will be described with reference to fig. 4.
As shown in fig. 4, a heat sink 35 including a plurality of heat radiating fins 36 is provided on the outer surface 13b of the side portion 13 of the base 11 so as to cover a range corresponding to a contact portion with the elastic member 33 and the inner surface 13a. With this configuration, the heat dissipation performance of the base 11 itself can be improved, and the heat from the drive circuit board 25 via the elastic member 33 can be preferentially dissipated from the heat sink 35. That is, the heat of the driver circuit board 25 can be efficiently dissipated as compared with a structure in which the heat sink 35 is not provided.
The robot 10 of the above embodiment has the base 11 formed to seal the internal space, but may have a structure in which external air is introduced into the internal space. This structure will be described with reference to fig. 5.
As shown in fig. 5, a lead-out portion 41 having a communication passage 40 communicating with the internal space of the base 11 is provided at a position close to the drive circuit board 25 on the side portion 13 of the base 11, and the lead-out portion 41 is connected to a vacuum pump, not shown. Further, the internal space of the base 11 is formed to a negative pressure lower than the external air pressure by a vacuum pump, whereby the external air can be introduced into the internal space from the gap of the base 11. With this configuration, the temperature rise in the internal space can be suppressed by the introduced outside air. Therefore, in addition to the effects described in (1) to (5), heat dissipation from the mounting surface 27 of the driver circuit board 25 can be promoted. Furthermore, since the lead-out portion 41 is provided at a position close to the driver circuit board 25 to promote convection around the driver circuit board 25, heat dissipation from the mounting surface 27 of the driver circuit board 25 can be efficiently performed. In this configuration, as shown in fig. 5, an introduction portion 42 for introducing outside air may be formed in the base 11.
The robot 10 of the above embodiment has the battery 26 as the power source of each of the resolvers R1 to R4 during the period in which the supply of the power source from the controller 5 is interrupted, and the drive circuit board 25 is provided with a storage unit that stores the detection signals from each of the resolvers R1 to R4 during the period. To change this, for example, when the change in the absolute position of each of the motors M1 to M4 is negligible while the power supply from the controller 5 is cut off, the battery 26 and the storage unit may be omitted. With this configuration, in addition to the effects described in (1) to (4), the configurations of the base 11 and the drive circuit board 25 can be simplified.
In the above embodiment, the drive circuit board 25 is attached to the inner surface 13a of the side portion 13 of the base 11, that is, the inner surface of the base 11. In a modification of this, if the driver circuit board 25 is mounted via the elastic member 33, the driver circuit board 25 may be mounted on the outer surface of the base 11.
In the above embodiment, the drive circuit board 25 is mounted so that the mounting surface 27 is disposed along the inner surface 13a of the side portion 13 extending in the vertical direction perpendicular to the bottom surface 12a of the base 11. Alternatively, the mounting surface 27 of the driver circuit board 25 may be mounted on the base 11 in a direction parallel to or intersecting the surface direction of the bottom surface 12a, for example. This configuration can also achieve the effects described in (1) to (3) above.
In the above embodiment, the elastic member 33 is configured to contact the mounting surface 30 of the drive circuit board 25 over the entire area thereof. In a modification, the contact portion between the mounting surface 30 of the driver circuit board 25 and the elastic member 33 may be a part of the mounting surface 30. For example, the contact portion of the elastic member 33 with the mounting surface 30 may be biased to one side in the mounting surface 30 or may be located at a plurality of positions in the mounting surface 30. This configuration can also achieve the effects described in (1) and (2) above. In such a configuration, it is preferable that the contact portion is provided so as to correspond to a portion of the driver circuit board 25 where the temperature rise is high.
The elastic member 33 of the above embodiment is formed of an insulating member. In a modification of this, the elastic member 33 may have conductivity, but the circuit board needs to be designed so that the wiring is not short-circuited by the elastic member. According to such a configuration, in addition to the effect described in (1) above, it is possible to increase the degree of freedom in selecting the material of the elastic member 33 and to select an elastic member that meets the mechanical condition required for the elastic member 33.
In the above embodiment, the present invention is embodied as the robot 10 of the horizontal articulated robot. The present invention is not limited to this, and may be applied to a robot that detects the absolute position of a motor that moves a movable portion by a resolver and mounts a circuit board on which a drive circuit of the resolver is formed.
The driver circuit board 25 of the above embodiment is mounted so as to be movable relative to the base 11 by a screw member loosely inserted into a through hole formed in the driver circuit board 25 and a through hole formed in the elastic member 33. In addition, the drive circuit board 25 may be mounted on the base 11 so as to be movable relative to the base 11, for example, by adhering an elastic member to which the drive circuit board 25 is adhered to the base 11 by making a contact surface of the elastic member adhesive. Further, for example, the drive circuit board 25 may be mounted on the base 11 by using a spring member with the elastic member 33 interposed therebetween without using a screw member.
In the above-described embodiment, the robot 10 is installed on a horizontal surface, but the installation surface of the robot 10 is not limited to a horizontal surface. Further, it is preferable to arrange the drive circuit board 25 in accordance with the installation mode of the robot 10, so that even if foreign matter generated in the base 11 falls, the foreign matter is less likely to adhere to the drive circuit board 25.
Description of the symbols
C1, C2, C3, C4.. rotation centerline; a 1 st motor; a 2 nd motor; m3.. a lift motor; m4... rotating a motor; a R1, R2, R3, R4.. decomposer; a robotic device; a controller; a primary power source; 7a, 7b.. connecting wires; a connector; a robot; an abutment; a bottom; a bottom surface; a side portion; a medial side; an outer side; a top; a rotating shaft; 1 st arm; supporting a shaft; a 2 nd arm; upper and lower rotation axes; a working portion; a piping component; a drive circuit substrate; a battery; a mounting surface; a connector; a through hole; a mounting surface; an elastic member; a heat sink; a heat sink; a communication path; a lead-out portion; an introduction portion.
Claims (7)
1. A robot is characterized by comprising:
a base station;
a movable portion movable relative to the base;
a motor for moving the movable part relative to the base;
a resolver that detects a rotation angle of the motor; and
a drive circuit board for driving the resolver,
wherein,
the motor and the drive circuit board are provided in the base and are provided separately from each other, the drive circuit board is mounted on the base via an elastic member having thermal conductivity and elasticity, a part of the drive circuit board is in contact with a part of the elastic member, and a part of the elastic member is in contact with a part of the base.
2. The robot of claim 1,
the elastic member is an insulating member.
3. The robot of claim 1,
the elastic member is in surface contact with one surface of the drive circuit board over the entire area of the one surface of the drive circuit board.
4. The robot of claim 2,
the elastic member is in surface contact with one surface of the drive circuit board over the entire area of the one surface of the drive circuit board.
5. A robot as set forth in any of claims 1 to 4,
the base has a side surface extending in a direction intersecting with a bottom surface of the base,
the drive circuit board is mounted on the side surface via the elastic member.
6. A robot as set forth in any of claims 1 to 4,
a heat radiation fin for heat radiation is provided on an outer surface of the base in a range corresponding to a contact portion with the elastic member.
7. A robot as set forth in any of claims 1 to 4,
a battery which becomes a power source of the driving circuit board when an electric connection between the robot and a controller for controlling the robot is cut off,
the drive circuit board includes:
and a storage unit that stores the rotation angle of the motor based on the detection signal from the resolver.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011-089771 | 2011-04-14 | ||
| JP2011089771A JP6039887B2 (en) | 2011-04-14 | 2011-04-14 | robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102729259A CN102729259A (en) | 2012-10-17 |
| CN102729259B true CN102729259B (en) | 2015-09-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210106864.2A Active CN102729259B (en) | 2011-04-14 | 2012-04-12 | Robot |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6039887B2 (en) |
| CN (1) | CN102729259B (en) |
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|---|---|---|---|---|
| JP6268920B2 (en) * | 2013-10-28 | 2018-01-31 | セイコーエプソン株式会社 | robot |
| JP6320104B2 (en) * | 2014-03-24 | 2018-05-09 | Ｇｋｎドライブラインジャパン株式会社 | Driving force transmission device and vehicle equipped with driving force transmission device |
| JP6455050B2 (en) * | 2014-09-30 | 2019-01-23 | セイコーエプソン株式会社 | robot |
| JP2017127914A (en) * | 2016-01-19 | 2017-07-27 | セイコーエプソン株式会社 | Robot and robot system |
| JP6998115B2 (en) * | 2017-02-27 | 2022-01-18 | 川崎重工業株式会社 | Robot controller |
| JP6958200B2 (en) * | 2017-09-29 | 2021-11-02 | セイコーエプソン株式会社 | robot |
| JP7130932B2 (en) * | 2017-09-29 | 2022-09-06 | セイコーエプソン株式会社 | robot |
| WO2019167418A1 (en) * | 2018-03-01 | 2019-09-06 | パナソニックＩｐマネジメント株式会社 | Robot |
| CN111283657B (en) | 2018-12-06 | 2021-12-24 | 台达电子工业股份有限公司 | Robot mechanism |
| TWI737948B (en) * | 2018-12-06 | 2021-09-01 | 台達電子工業股份有限公司 | Robot mechanism |
| WO2023112093A1 (en) * | 2021-12-13 | 2023-06-22 | ファナック株式会社 | Articulated robot |
| EP4338894A1 (en) * | 2022-09-14 | 2024-03-20 | Kassow Robots ApS | Integrated control unit |
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| EP0353584A2 (en) * | 1988-08-05 | 1990-02-07 | Siemens Aktiengesellschaft | Machine tool or robot system with an absolute cyclic position measuring device |
| CN101693370A (en) * | 2009-09-30 | 2010-04-14 | 东莞宏威数码机械有限公司 | Novel multi-stage transferring robot |
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| JPH08204072A (en) * | 1995-01-24 | 1996-08-09 | Mitsutoyo Corp | Device for cooling electronic parts |
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| JP2007239783A (en) * | 2006-03-06 | 2007-09-20 | Toshiba Mach Co Ltd | Bearing supporting method and robot device using this method |
| JP4830848B2 (en) * | 2006-12-26 | 2011-12-07 | パナソニック株式会社 | Electric compressor |
| JP5495092B2 (en) * | 2008-12-22 | 2014-05-21 | 東芝ライテック株式会社 | Lighting device and lighting fixture |
| JP5444875B2 (en) * | 2009-06-24 | 2014-03-19 | セイコーエプソン株式会社 | Robot controller |
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| CN101693370A (en) * | 2009-09-30 | 2010-04-14 | 东莞宏威数码机械有限公司 | Novel multi-stage transferring robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6039887B2 (en) | 2016-12-07 |
| JP2012218136A (en) | 2012-11-12 |
| CN102729259A (en) | 2012-10-17 |
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