JP2018134701A - SCARA robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a SCARA robot capable of improving the rigidity of an arm. SOLUTION: A SCARA robot 100 is rotatably supported by a base 10, a first arm 20 rotatably supported by the base 10, a driving side arm portion 31 and a driven side. A second arm 30 having an arm portion 31 is provided. The second arm 30 includes a Z motor unit 50 having an output shaft 50c and a ball screw 60 having a ball screw nut 62 that linearly moves with the rotational movement of the output shaft 50c. , May be arranged on the drive side arm portion 31. [Selection diagram] Fig. 3

Description

  The present invention relates to a SCARA robot.

  In factories that produce automobiles, electronic parts, etc., SCARA robots are used for factory automation. As an example of a SCARA robot, Patent Document 1 discloses a SCARA robot having a first arm that rotates in the horizontal direction and a second arm that rotates with the tip of the first arm as a fulcrum.

Japanese Utility Model Publication No. 5-86489

  Each arm of such a SCARA robot rotates at high speed. For this reason, it is desirable that the rigidity of each arm is high. In particular, it is desirable that the rigidity of the second arm that rotates with the tip of the first arm as a fulcrum is high.

  The present invention has been made under the above circumstances, and an object thereof is to provide a SCARA robot capable of improving the rigidity of an arm.

In order to achieve the above object, a SCARA robot according to the first aspect of the present invention provides:
The base,
A first arm rotatably supported on the base;
A second arm rotatably supported by the first arm and having a driving side arm portion and a driven side arm portion;
Is provided.

The second arm is
A Z motor unit having a first rotating shaft;
A ball screw having a ball screw nut that linearly moves with the rotational movement of the first rotation shaft,
The Z motor unit may be disposed on one of the driving side arm portion and the driven side arm portion.

The second arm is
An R motor unit having a second rotating shaft;
A ball spline including a spline shaft that linearly moves with the linear motion of the ball screw nut and that rotates with the rotational motion of the second rotary shaft;
Either one of the Z motor unit and the R motor unit is disposed in the drive side arm portion,
The other of the Z motor unit and the R motor unit may be disposed on the driven arm portion.

  A space may be formed between the driving side arm portion, the driven side arm portion, and the first arm.

  At least one of the driving side arm portion, the driven side arm portion, and the first arm may be provided with a heat radiating portion exposed to the space.

The first arm has a first surface and a second surface opposite to the first surface;
A proximal end of the drive side arm portion is attached to the first surface;
A proximal end of the driven arm portion is attached to the second surface;
The distal end of the driving side arm portion may be fixed to the distal end of the driven side arm portion.

The first arm has a motor flange;
A J2 motor unit that rotates the second arm may be fixed to the motor flange.

The J2 motor unit includes a motor body and a speed reducer,
One of the motor body and the speed reducer is attached to the first surface,
Either the motor main body or the speed reducer may be attached to the second surface.

The J2 motor unit has a third rotating shaft protruding from the speed reducer,
The third rotation shaft of the J2 motor unit may be fixed to the drive side arm portion.

  The first arm may be provided with a heat radiating portion exposed to the outside of the first arm.

  The heat dissipating part may have a plurality of heat dissipating fins provided along a direction in which the first arm rotates.

  The first arm may have a heat transfer member that connects the heat radiating portion and the motor body of the J2 motor unit and is made of a heat conductive material.

  The base may have a J1 motor unit for rotating the first arm.

The SCARA robot according to the second aspect of the present invention is:
The base,
A first arm rotatably supported by the base, and a second arm rotatably supported by the first arm and having a drive side arm portion and a driven side arm portion;
One motor is disposed on each of the base, the first arm, the driving arm portion, and the driven arm portion.

  In the SCARA robot of the present invention, the second arm has two arms, a driving side arm portion and a driven side arm portion. For this reason, the rigidity of the second arm can be improved.

It is a perspective view of the SCARA robot which concerns on embodiment of this invention. It is a side view of a SCARA robot. It is sectional drawing of a SCARA robot. It is a section perspective view of the 1st arm. It is a side view of the 1st arm and the 2nd arm. It is a figure for demonstrating the effect of this embodiment.

  Hereinafter, the SCARA robot 100 according to the embodiment of the present invention will be described. The XY plane in the figure is a horizontal plane, and the direction of the Z axis in the figure is the vertical direction.

  As shown in FIGS. 1 to 3, the SCARA robot 100 of the present embodiment is a horizontal articulated robot used as an industrial robot, for example. The SCARA robot 100 includes a base 10, a first arm 20, and a second arm 30 having a ball screw 60 and a ball spline 70. The SCARA robot 100 moves about four movement axes L1 to L4. Specifically, the first arm 20 rotates with respect to the base 10 with the motion axis L1 as a rotation axis, and the second arm 30 rotates with respect to the first arm 20 with the motion axis L2 as a rotation axis. The ball screw nut 62 of the ball screw 60 reciprocates (linearly moves) along the motion axis L3, and the spline shaft 72 of the ball spline 70 moves along the motion axis L4 together with the reciprocating motion of the ball screw nut 62. Reciprocates (linear motion). In addition, a forward / reverse bidirectional rotational motion is performed with the motion axis L4 as a rotational axis.

  The base 10 is a member that rotatably supports the first arm 20, and includes a base body 12 made of an aluminum material having a good heat capacity and thermal conductivity, and a J1 motor unit 11 disposed on the base body 12. Have. The base body 12 supports the J1 motor unit 11 and covers the J1 motor unit 11. The J1 motor unit 11 is composed of, for example, an AC servo motor, and includes a motor body 11a, a reduction gear 11b, an encoder 11c, and an output shaft 11d of the reduction gear 11b.

  Electric power is supplied to the motor body 11a of the J1 motor unit 11 via a cable or the like. When electric power is supplied to the motor main body 11a, a rotor (not shown) of the motor main body 11a rotates. The rotational motion of the rotor is decelerated at a predetermined reduction ratio by the reduction gear 11b and output to the output shaft 11d. The output shaft 11d is connected to the first arm 20, and with the rotation of the output shaft 11d, the first arm 20 rotates about the motion axis L1. The encoder 11c detects the rotation position, the rotation amount, or the rotation speed of the output shaft 11d. The encoder 11c of the J1 motor unit 11 is composed of, for example, an absolute encoder.

  The base body 12 is a case-like member having the Z-axis direction as a longitudinal direction.

  The support column 14 is a cylindrical member that houses a cable (not shown) for supplying power to and communicating with the motor unit of each unit of the SCARA robot 100. The support column 14 extends in a direction substantially parallel to the longitudinal direction of the base body 12, and an end portion on the −Z side of the support column 14 and an end portion on the −Z side of the base body 12 are interposed via the base base plate 13. Connected.

  The first arm 20 is attached to the output shaft 11d of the speed reducer 11b, so that the first arm 20 can turn on the base 10 and also supports the second arm 30 so that the second arm 30 can turn. As shown in FIG. 4, the first arm 20 includes a first arm main body 21, a J2 motor unit 22, a heat radiating portion 23, a heat transfer plate portion 24, and a motor flange 25. The first arm body 21 has a hollow structure composed of a first arm body upper frame 21a and a first arm body lower frame 21b.

  The first arm main body 21 includes a cylindrical portion 21c connected to the base 10, a cylindrical portion 21d in which the J2 motor unit 22 is disposed, and a connecting portion 21e that connects the two cylindrical portions 21c and 21d. The first arm main body 21 is made of, for example, an aluminum material having a good heat capacity and thermal conductivity. In the connecting portion 21e of the first arm main body 21, a cable (not shown) for supplying power and communicating with the motor main body 22a of the J2 motor unit 22 and the like is wired. The first arm 20 (specifically, the first arm main body 21) has an upper surface 21f and a lower surface 21g opposite to the upper surface 21f. Further, the support column 14 is connected to the cylindrical portion 21 c of the first arm main body 21 via the connecting member 15 and a bearing 15 a installed on the upper surface 21 f of the first arm main body 21. The support column 14 is connected to the first arm body 21 via the connecting member 15 and the bearing 15a, so that a cable (not shown) for supplying power and communicating can be wired in the hollow structure of the first arm body 21. At the same time, the first arm main body 21 can be rotatable with respect to the connecting member 15, and thus the column 14. Note that a cable (not shown) arranged via the support column 14 and the connecting member 15 is housed inside the SCARA robot 100 by the cable cover 16.

  The J2 motor unit 22 is used for rotating the second arm 30. The J2 motor unit 22 includes a motor body 22a, a reduction gear 22b, an output shaft 22d (third rotation shaft) protruding from the reduction gear 22b, and an encoder 22c.

  Power supply and communication are performed on the motor main body 22a and the encoder 22c of the J2 motor unit 22 via a cable (not shown). When electric power is supplied to the motor main body 22a, a rotor (not shown) of the motor main body 22a rotates. The rotational motion of the rotor is decelerated at a predetermined reduction ratio by the reduction gear 22b and output to the output shaft 22d. The output shaft 22d is connected to the second arm 30, as can be seen with reference to FIGS. 2 to 4, and with the rotation of the output shaft 22d, the second arm 30 rotates about the motion axis L2. . The encoder 22c detects the rotation position, rotation amount, rotation speed, or the like of the output shaft 22d.

  The heat radiating part 23 is used to release heat generated during operation of the J2 motor unit 22 and the like to the outside. The heat radiating portion 23 is provided on the connection portion 21 e of the first arm main body 21 so as to be exposed to the outside of the first arm main body 21. Specifically, the heat radiating portion 23 is provided on the lower surface 21 g (the −Z side surface) of the first arm main body 21. In the present embodiment, the heat dissipating part 23 is composed of a plurality of heat dissipating fins. The radiation fins are provided along the direction in which the first arm 20 rotates.

  The heat transfer plate portion 24 is a member that connects the motor main body 22 a that tends to be relatively high temperature by its own operation and the heat radiating portion 23. The heat transfer plate portion 24 is made of a metal having a high thermal conductivity, such as copper. One end of the heat transfer plate portion 24 is connected to the outer peripheral surface of the housing of the motor main body 22a. The other end of the heat transfer plate portion 24 extends inside the first arm body 21 and is connected to the heat radiating portion 23 by a bolt or the like.

  The motor flange 25 is used for fixing the J2 motor unit 22. The motor flange 25 is formed integrally with the first arm body lower frame 21 b of the first arm body 21 of the first arm 20. The motor flange 25 and the first arm body 21 are made of, for example, an aluminum material. The motor body 22a and the speed reducer 22b of the J2 motor unit 22 are arranged so as to sandwich the motor flange 25.

  As shown in FIGS. 2 and 3, the second arm 30 includes a drive side arm portion 31, a driven side arm portion 32, an R motor unit 40, a Z motor in addition to the ball screw 60 and the ball spline 70 described above. The motor unit 50, the connecting member 80, and covers 90 and 91 that cover these members are included.

  2 and 3, the drive side arm portion 31 is rotatably attached to the first arm main body 21 via the output shaft 22d of the speed reducer 22b of the J2 motor unit 22, and Z The motor unit 50 and the like are supported. As shown in FIG. 5, the drive side arm portion 31 is attached to the upper surface 21 f of the first arm 20. The drive side arm portion 31 is made of a material having a good heat capacity and thermal conductivity, for example, an aluminum material. The distal end of the driving side arm portion 31 is fixed to the distal end of the driven side arm portion 32.

  As shown in FIGS. 2 and 3, the driven arm portion 32 is rotatably attached to the first arm body 21 via a bearing 32a and supports the R motor unit 40 and the like. As shown in FIG. 5, the driven arm portion 32 is attached to the lower surface 21 g of the first arm 20. The driven arm portion 32 is made of a material having good heat capacity and thermal conductivity, for example, an aluminum material. The driven arm portion 32 is formed of the same material as that of the driving arm portion 31. However, the invention is not limited thereto, and the driven arm portion 32 and the driving arm portion 31 may be formed of different materials. However, the driven arm portion 32 and the driving arm portion 31 are preferably formed from the same material from the viewpoint of manufacturing cost and manufacturing efficiency.

  As shown in FIGS. 2 and 3, the R motor unit 40 is used for rotating the spline shaft 72 of the ball spline 70. The R motor unit 40 includes a motor body 40a, an output shaft 40c (second rotation shaft), and an encoder 40b that detects a rotation position, a rotation amount, a rotation speed, and the like of the output shaft 40c. The rotational motion generated in the motor body is decelerated at a predetermined reduction ratio by the output shaft 40 c and the belt pulley mechanism 74 and is output to the spline shaft 72. The belt pulley mechanism 74 performs two-stage deceleration by the pulley 73 and the belt. In the present embodiment, the R motor unit 40 is disposed on the driven arm portion 32 via a motor mounting bracket 40d.

  The Z motor unit 50 is used for linearly moving the spline shaft 72 of the ball spline 70 in the Z-axis direction. The Z motor unit 50 includes a motor main body 50a, an output shaft 50c (first rotation shaft), and an encoder 50b that detects a rotation position, a rotation amount, a rotation speed, and the like of the output shaft 50c. The rotational motion generated in the motor main body 50 a is output at a predetermined reduction ratio or at a constant speed by the output shaft 50 c and the belt pulley mechanism 63 and is output to the ball screw shaft 61. In the present embodiment, the Z motor unit 50 is disposed on the drive side arm portion 31 via a motor mounting bracket 50d. The output shaft 50c supports one pulley of the belt pulley mechanism 63 and the brake 50e in order from the motor body 50a side. The brake 50e is also arranged on the drive side arm portion 31 via the motor mounting bracket 50d. Thereby, the Z motor unit 50 and the R motor unit 40 are disposed on different arm portions.

  The ball screw 60 is disposed substantially parallel to the Z-axis direction. The ball screw 60 has a ball screw shaft 61 and a ball screw nut 62.

  The end of the ball screw shaft 61 on the −Z side is connected to the output shaft 50 c of the Z motor unit 50 by a belt pulley mechanism 63. The ball screw shaft 61 rotates with the rotation of the output shaft 50c of the Z motor unit 50. A spiral male thread portion is formed on the outer periphery of the ball screw shaft 61. A female screw portion of a ball screw nut 62 is disposed on the male screw portion of the ball screw shaft 61 via a plurality of steel balls. Thereby, the rotational motion of the ball screw shaft 61 is converted into the linear motion of the ball screw nut 62. Then, the ball screw shaft 61 performs a rotational motion without performing a linear motion.

  The ball spline 70 is disposed so as to penetrate the drive side arm portion 31 and the driven side arm portion 32. The ball spline 70 includes a spline outer cylinder 71, a spline shaft 72, a pulley 73, and a bearing 75.

  On the outer periphery of the spline shaft 72, a plurality of spline grooves are formed along the Z-axis direction. The spline shaft 72 passes through the spline outer cylinder 71, and a plurality of steel balls are disposed between the spline groove of the spline shaft 72 and the inner peripheral surface of the spline outer cylinder 71. By arranging the steel balls in the spline grooves, the spline shaft 72 slides in the Z-axis direction with respect to the spline outer cylinder 71.

  The pulley 73 is fixed to the spline outer cylinder 71 by being fitted to the outer periphery of the spline outer cylinder 71, and is rotatably disposed on the driven side arm portion 32 by a bearing 75. Further, the pulley 73 constitutes a part of a belt pulley mechanism 74 connected to the output shaft 40 c of the R motor unit 40. The rotational motion of the R motor unit 40 is transmitted to the spline outer cylinder 71 via the belt pulley mechanism 74 and rotates the spline shaft 72.

  The ball screw nut 62 and the upper end (+ Z side end) of the spline shaft 72 are connected by a connecting member 80.

  The connecting member 80 has a bearing 81. The + Z side end of the spline shaft 72 is rotatably supported by the connecting member 80 by the bearing 81. The connecting member 80 moves linearly with the ball screw nut 62.

  The cover 90 is attached to the driving side arm portion 31 and protects the Z motor unit 50 and the like. The cover 91 is attached to the driven arm portion 32 and protects the R motor unit 40 and the like.

  A space 92 is formed between the drive side arm portion 31, the driven side arm portion 32, and the side surface of the first arm 20.

  Arbitrary tools and devices according to the work contents are attached to the lower end (end on the −Z side) of the spline shaft 72 of the SCARA robot 100 configured as described above. The SCARA robot 100 is connected to a controller (not shown) via a cable. The controller includes, for example, a CPU (Central Processing Unit), a storage unit, and the like. Based on the signals from the encoders 11c, 22c, 40b, and 50b of the J1 motor unit 11, the J2 motor unit 22, the R motor unit 40, and the Z motor unit 50, the controller performs the J1 motor unit 11, the J2 motor unit 22, The R motor unit 40 and the Z motor unit 50 are controlled. The contents of the operation of the SCARA robot 100 are set by a teaching pendant or the like connected to the controller and stored in the storage unit of the controller. The CPU of the controller reads the program and data from the storage unit and executes the program.

  The operation of the SCARA robot 100 will be described with reference to FIGS. The operation of the SCARA robot 100 is started or proceeds, for example, when the CPU executes a program stored in a storage unit of a controller (not shown).

  The controller of the SCARA robot 100 rotates the output shaft 11d of the speed reducer 11b of the J1 motor unit 11 to rotate the first arm 20 about the motion axis L1. Further, by rotating the output shaft 22d of the speed reducer 22b of the J2 motor unit 22, the second arm 30 is rotated about the motion axis L2 as a rotation axis. The controller rotates the spline by rotating the output shaft 11d of the speed reducer 11b of the J1 motor unit 11, rotating the output shaft 22d of the speed reducer 22b of the J2 motor unit 22, or rotating both simultaneously. The tool attached to the lower end of the shaft 72 is moved horizontally to the XY plane. Thereby, the tool is moved to an arbitrary position set by the program.

  When the tool attached to the lower end of the spline shaft 72 moves to the set position in the XY plane, the controller of the SCARA robot 100 rotates the output shaft 50c of the Z motor unit 50, and thereby via the belt pulley mechanism 63. The ball screw shaft 61 rotates. As the ball screw shaft 61 rotates, the ball screw nut 62 linearly moves in either the + Z direction or the −Z direction.

  When the ball screw nut 62 moves linearly in the −Z direction, the spline shaft 72 connected to the ball screw nut 62 also moves linearly in the −Z direction along the movement axis L4. The spline outer cylinder 71 is configured as a ball bearing, and the spline shaft 72 moves smoothly with respect to the spline outer cylinder 71. Eventually, the spline shaft 72 moves to the bottom dead center. Thereby, for example, the tool attached to the spline shaft 72 comes into contact with the workpiece or the like. At this time, the rotation of the ball screw shaft 61 is restricted by the brake 50e, and consequently the movement of the spline shaft 72 in the Z-axis direction is restricted, and the position of the tool attached to the spline shaft 72 is fixed at a desired position. .

  When the controller rotates the output shaft 40c of the R motor unit 40, the rotational motion of the output shaft 40c is transmitted to the spline outer cylinder 71 via the belt pulley mechanism 74, and the spline outer cylinder 71 rotates. To do. As a result, the spline shaft 72 that is spline-engaged with the spline outer cylinder 71 rotates around the movement axis L4 together with the spline outer cylinder 71.

  That is, when the controller rotates only the output shaft 50c of the Z motor unit 50, the spline shaft 72 moves linearly. When only the output shaft 40c of the R motor unit 40 is rotated, the spline shaft 72 rotates around the motion axis L4. When both the output shaft 50c of the Z motor unit 50 and the output shaft 40c of the R motor unit 40 are rotated, the spline shaft 72 performs a spiral motion.

  When the spline shaft 72 performs a predetermined motion such as a linear motion, a rotational motion, or a spiral motion, the controller of the SCARA robot 100 again decelerates the output shaft 11d of the speed reducer 11b of the J1 motor unit 11 and the J2 motor unit 22. By rotating the output shaft 22d of the machine 22b, the first arm 20 and the second arm 30 are rotated, and the tool attached to the spline shaft 72 is moved horizontally to the XY plane. Then, it is moved to the initial position.

  The controller of the SCARA robot 100 repeats the above motion according to the program stored in the storage unit.

  As described above, the second arm 30 of the SCARA robot 100 according to the present embodiment is composed of the two arm portions of the drive side arm portion 31 and the driven side arm portion 32 as shown in FIG. ing. For this reason, the rigidity of the second arm 30 can be improved. As a result, by improving the rigidity of the second arm 30, it is possible to suppress the deflection of the tip portion of the spline shaft 72 and to stabilize the movement of the spline shaft 72.

  Further, in the SCARA robot 100 according to the present embodiment, the base end of the driving side arm portion 31 is attached to the upper surface 21f of the first arm 20, and the base end of the driven side arm portion 32 is set to the first arm 20. It is attached to the lower surface 21g. Further, the distal end of the driving side arm portion 31 is fixed to the distal end of the driven side arm portion 32. Thereby, the rigidity of the second arm 30 can be further improved.

  In the SCARA robot 100 according to the present embodiment, the Z motor unit 50 is disposed in the driving side arm portion 31, and the R motor unit 40 is disposed in the driven side arm portion 32. Thereby, the Z motor unit 50 and the R motor unit 40 are spaced apart. Thereby, even if the temperature of the Z motor unit 50 and the R motor unit 40 rises based on the operation of the Z motor unit 50 and the R motor unit 40, the heat flows through the driving side arm portion 31 and the driven side arm portion 32, respectively. It is discharged to the outside and the heat dissipation is improved. As a result, continuous rotation of the Z motor unit 50 and the R motor unit 40 can be improved.

  In the present embodiment, as shown in FIGS. 2 and 3, the J1 motor unit 11 is disposed on the base body 12 of the base 10, and the J2 motor unit 22 is disposed on the first arm body 21. The Z motor unit 50 is disposed on the drive side arm portion 31, and the R motor unit 40 is disposed on the driven side arm portion 32. Thereby, since each motor unit 11, 22, 50, 40 is arrange | positioned at another member (because one motor is arrange | positioned at one flame | frame), each motor unit 11, 22, 50, 40 is arranged. Heat can be dissipated to each frame, resulting in better heat dissipation. Specifically, the heat generated by the operation of the J1 motor unit 11 is discharged to the outside through the base body 12 of the base 10, and the heat generated by the operation of the J2 motor unit 22 is externally transmitted through the first arm body 21. To be discharged. The heat generated by the operation of the Z motor unit 50 is exhausted to the outside through the drive side arm portion 31, and the heat generated by the operation of the R motor unit 40 is exhausted to the outside through the driven side arm portion 32. Is done. As a result, the continuous rotation of each motor unit 11, 22, 50, 40 can be improved.

  In the present embodiment, all the motor units of the J1 motor unit 11, the J2 motor unit 22, the Z motor unit 50, and the R motor unit 40 are arranged apart from each other. For this reason, the mutual influence of the heat of each motor unit can be reduced. As a result, the continuous rotation of each motor unit can be improved.

  In the present embodiment, as shown in FIG. 5, a space 92 is formed between the drive side arm portion 31, the driven side arm portion 32, and the first arm 20. Due to this space 92, the J2 motor unit 22 and the Z motor unit 50 are spaced apart. Also, heat generated in the J2 motor unit 22, the Z motor unit 50, and the R motor unit 40 is radiated by generating an air flow in the space 92 by the rotation of the first arm 20 and the second arm 30. Can do. For this reason, the mutual influence of the heat of each motor unit can be reduced. As a result, the continuous rotation of each motor unit can be improved.

  In the present embodiment, the motor body 22a and the speed reducer 22b of the J2 motor unit 22 are arranged so as to sandwich the motor flange 25, and the motor flange 25 is integrated with the first arm body 21 of the first arm 20. Is formed. Therefore, as can be seen with reference to FIG. 6, even if the temperature of the J2 motor unit 22 rises based on the operation of the J2 motor unit 22, the motor flange 25 and the first arm body 21 are transferred to the outside. Released. That is, since the escape route to the outside of heat is ensured, the heat dissipation is improved. As a result, the continuous rotation of the J2 motor unit 22 can be improved.

  In the present embodiment, as shown in FIG. 4, the connecting portion 21 e of the first arm main body 21 is provided with a heat radiating portion 23 exposed to the outside of the first arm main body 21. Thereby, even if the temperature of the J2 motor unit 22 rises based on the operation of the J2 motor unit 22, the heat of the J2 motor unit 22 is released to the outside, and the heat dissipation is improved. As a result, the continuous rotation of the J2 motor unit 22 can be improved.

In the present embodiment, the heat radiating fins of the heat radiating portion 23 are provided along the direction in which the first arm 20 rotates. For this reason, with the rotation of the first arm 20, it becomes easy for the wind to flow into the gaps between the radiating fins, and the heat dissipation is improved. In particular, the portion where the heat radiating portion 23 is formed is a portion that is likely to become high temperature due to the heat of the J1 motor unit 11 and the J2 motor unit 22, and therefore the heat radiating effect of the heat radiating portion 23 is further enhanced.
In the present embodiment, a heat transfer plate portion 24 that connects the housing of the motor main body 22 a of the J2 motor unit 22 and the heat dissipation portion 23 is provided. For this reason, since the heat generated by driving the motor main body 22a is transmitted to the heat radiating portion 23 via the heat transfer plate portion 24, the heat radiating effect of the motor main body 22a is further enhanced.
In the present embodiment, the motor body 50a and the brake 50e of the Z motor unit 50 are supported by the drive side arm portion 31 via the motor mounting bracket 50d. Therefore, the heat generated by the motor main body 50a and the heat generated by the brake 50e can be radiated to the drive side arm portion 31 via the motor mounting bracket 50d, respectively, and the heat radiation effect is enhanced.

  As mentioned above, although embodiment of this invention was described, this invention is not limited by the said embodiment etc.

  For example, in the present embodiment, the driving arm portion 31 is attached to the upper surface 21 f of the first arm 20, and the driven arm portion 32 is attached to the lower surface 21 g of the first arm 20. The output shaft 22 d of the J2 motor unit 22 is fixed to the drive side arm portion 31. However, the present invention is not limited to this. The driving side arm portion 31 may be attached to the lower surface 21g and the driven side arm portion 32 may be attached to the upper surface 21f with the upper and lower sides being switched. In this case, the output shaft 22d of the J2 motor unit 22 is fixed to the driving side arm portion 31 attached to the lower surface 21g.

  In the present embodiment, the Z motor unit 50 is disposed in the driving side arm portion 31, and the R motor unit 40 is disposed in the driven side arm portion 32. However, the present invention is not limited to this. The Z motor unit 50 may be disposed on the driven arm portion 32, and the R motor unit 40 may be disposed on the drive side arm portion 31.

  Further, in the present embodiment, the heat radiating portion 23 is provided on the connection portion 21 e of the first arm body 21 so as to be exposed to the outside of the first arm body 21. However, the place where the heat radiating portion 23 is formed is not limited to this. For example, the space 92 may be formed so as to protrude.

In the present embodiment, the SCARA robot 100 of the present embodiment is configured as a four-axis joint robot that moves with respect to the four motion axes L1 to L4. You may comprise as an articulated robot.
For example, the SCARA robot 100 may be configured as an articulated robot that moves about the three motion axes L1 to L3 without having the R motor unit 40.

  Various embodiments and modifications can be made to the present invention without departing from the broad spirit and scope of the present invention. The above-described embodiments are for explaining the present invention, and do not limit the scope of the present invention.

DESCRIPTION OF SYMBOLS 10 Base part 11 J1 motor unit 11a Motor main body 11b Reduction gear 11c Encoder 11d Output shaft 12 Base main body 13 Base base plate 14 Support | pillar 15 Connection member 15a Bearing 16 Cable cover 20 1st arm 21 1st arm main body 21a 1st arm main body upper frame 21b 1st arm main body lower frame 21c, 21d Cylindrical part 21e Connection part 21f Upper surface (1st surface)
21g Lower side (second side)
22 J2 motor unit 22a Motor body 22b Reducer 22c Encoder 22d Output shaft (third rotating shaft)
23 heat radiating section 24 heat transfer plate section 25 motor flange 30 second arm 31 driving side arm portion 32 driven side arm portion 32a bearing 40 R motor unit 40a motor main body 40b encoder 40c output shaft 40d motor mounting bracket 50 Z motor unit 50a motor main body 50b Encoder 50c Output shaft 50d Motor mounting bracket 50e Brake 60 Ball screw 61 Ball screw shaft 62 Ball screw nut 63 Belt pulley mechanism 70 Ball spline 71 Spline outer cylinder 72 Spline shaft 73 Pulley 74 Belt pulley mechanism 75 Bearing 80 Connecting member 81 Bearing 90 , 91 Cover 92 Space 100 SCARA robot L1, L2, L3, L4 Motion axis

Claims (14)

The base,
A first arm rotatably supported on the base;
A second arm rotatably supported by the first arm and having a driving side arm portion and a driven side arm portion;
A SCARA robot with The second arm is
A Z motor unit having a first rotating shaft;
A ball screw having a ball screw nut that linearly moves with the rotational movement of the first rotation shaft,
The SCARA robot according to claim 1, wherein the Z motor unit is disposed in any one of the driving side arm portion and the driven side arm portion. The second arm is
An R motor unit having a second rotating shaft;
A ball spline including a spline shaft that linearly moves with the linear motion of the ball screw nut and that rotates with the rotational motion of the second rotary shaft;
Either one of the Z motor unit and the R motor unit is disposed in the drive side arm portion,
The SCARA robot according to claim 2, wherein the other of the Z motor unit and the R motor unit is disposed on the driven arm portion.   The SCARA robot according to any one of claims 1 to 3, wherein a space is formed between the driving side arm portion, the driven side arm portion, and the first arm.   The SCARA robot according to claim 4, wherein at least one of the driving side arm portion, the driven side arm portion, and the first arm is provided with a heat radiating portion exposed to the space. The first arm has a first surface and a second surface opposite to the first surface;
A proximal end of the drive side arm portion is attached to the first surface;
A proximal end of the driven arm portion is attached to the second surface;
The SCARA robot according to any one of claims 1 to 5, wherein a tip of the driving side arm portion is fixed to a tip of the driven side arm portion. The first arm has a motor flange;
The SCARA robot according to claim 6, wherein a J2 motor unit for rotating the second arm is fixed to the motor flange. The J2 motor unit includes a motor body and a speed reducer,
One of the motor body and the speed reducer is attached to the first surface,
The SCARA robot according to claim 7, wherein one of the motor main body and the speed reducer is attached to the second surface. The J2 motor unit has a third rotating shaft protruding from the speed reducer,
The SCARA robot according to claim 8, wherein the third rotation shaft of the J2 motor unit is fixed to the drive side arm portion.   The SCARA robot according to any one of claims 7 to 9, wherein the first arm is provided with a heat radiating portion exposed to the outside of the first arm.   11. The SCARA robot according to claim 10, wherein the heat dissipating unit includes a plurality of heat dissipating fins provided along a direction in which the first arm rotates.   The SCARA robot according to claim 10 or 11, wherein the first arm includes a heat transfer member that connects the heat radiating unit and a motor main body of the J2 motor unit and is made of a heat conductive material.   The SCARA robot according to any one of claims 1 to 12, wherein the base has a J1 motor unit for rotating the first arm. The base,
A first arm rotatably supported by the base, and a second arm rotatably supported by the first arm and having a drive side arm portion and a driven side arm portion;
A SCARA robot in which one motor is disposed in each of the base, the first arm, the driving side arm portion, and the driven side arm portion.