JP5696542B2 - Articulated robot - Google Patents

Description

  The present invention relates to an articulated robot for industrial use, for example, and relates to an articulated robot configured using a plurality of joint actuators.

  Conventionally, articulated robots have been put to practical use as industrial robots, and various techniques have been proposed for installing electric wiring for power supply and signal transmission in joint actuators used in the articulated robots.

  For example, in Patent Document 1, in an articulated robot including a plurality of joint actuators composed of servomotors or the like, a power supply line or a signal line connected to the joint actuator is accommodated in a hollow arm and arranged. The structure to perform is disclosed.

Japanese Unexamined Patent Publication No. 7-328982

  However, in an articulated robot, electromagnetic noise (self noise) is generated in a power supply line for supplying motor driving power, and there is a concern that the electromagnetic noise may adversely affect the signal line. As in Patent Document 1, when the power line that is a strong electric wire and the signal line that is a weak electric wire are arranged close to each other, it is considered that the concern becomes even stronger. In addition, in the multi-joint robot, when considering the length and arrangement of each arm, the wiring length from the power source (for example, the robot controller) may be different for each joint actuator. It is considered that the resistance against power supply noise (self-noise) in the signal line is lowered due to a large voltage drop in the signal line. When the noise resistance of the signal line is lowered, the motor control is affected, and there is a concern that the controllability is lowered on the hand side of the articulated robot, for example. Therefore, there is room for improvement regarding measures against such self-noise.

  In an articulated robot, wiring is provided for each of the joint actuators. However, if the configuration requires different wiring for each actuator (dedicated wiring for each actuator), wiring is necessary for constructing the articulated robot. There is a concern that costs related to parts and costs required for assembly work increase.

  The main object of the present invention is to provide a multi-joint robot capable of sharing a wiring structure among a plurality of joint actuators and suppressing an adverse effect on the control system due to its own power supply noise. It is.

  Hereinafter, means and the like effective for solving the above-described problems will be described while showing functions and effects as necessary.

The first invention has a plurality of joint portions, and each joint portion is provided with a joint actuator, and each joint actuator includes a motor that is rotationally driven by energization and is driven to the motor. A wiring module having a power supply line for supplying power and a signal line for transmitting a motor control signal is provided to supply power to the subsequent joint actuator via the wiring module for the previous joint actuator. An articulated robot that transmits signals,
The wiring module is provided with a plurality of conductive wires with insulation coating arranged side by side, the plurality of conductive wires including a strip-shaped wiring member used as the power supply line and the signal line, and the wiring member includes the plurality of conductive lines. A power line array section is provided in which the power lines corresponding to several joint actuators are arrayed side by side for each joint actuator,
The input side of the wiring member is provided with an input side connector having a plurality of input terminals corresponding to the respective conductive wires and electrically connected to the wiring module of the joint actuator in the previous stage. Among the plurality of input terminals, a predetermined input terminal different from the power input terminal to which the power supplied to the power line array unit is input is a common distribution for all actuators for distributing motor drive power to each joint actuator It is defined as a terminal,
On the output side of the wiring member, an output side connector having a plurality of output terminals corresponding to the respective conductive wires and electrically connected to the wiring module of the next-stage joint actuator is provided. A predetermined output terminal of the plurality of output terminals is defined as a next-stage power terminal common to all actuators connected to the distribution terminal in a wiring module of a next-stage actuator,
In the wiring module, connecting a power line for one joint actuator located farthest from the signal line in the power line array part to the next-stage power terminal as a power line for a next-stage actuator; and The power supply line array is rearranged by shifting the remaining power supply lines of the power supply line array section to the side away from the signal line by one power supply line for the one joint actuator, and reconnecting the power supply line array. It is characterized by being.

  In an articulated robot having a plurality of joint actuators, the movement of each joint portion is controlled in a state where power is supplied to each motor in each of the plurality of joint actuators (motor drive power). In addition, it is conceivable that, for example, the required output for each motor is different among a plurality of joint actuators, but it is desirable that all actuators have the same configuration as a basic configuration. That is, each joint actuator may be a general-purpose actuator having a common configuration at any joint in a multi-joint robot, and the present invention is a technique suitable for a multi-joint robot using a plurality of such general-purpose actuators. In this case, it is desirable that a wiring module using a strip-shaped wiring member such as a flexible printed wiring board is also widely used.

  In this regard, in the articulated robot of the present invention, in the input side connector of the wiring module, a distribution terminal common to all actuators for distributing and supplying motor drive power to each joint actuator is determined in advance, and the output side connector , The next power terminal common to all actuators connected to the distribution terminal by the next actuator is predetermined. These have a common configuration for all actuators, for example, by determining terminal pin numbers. In addition, in the wiring module, the arrangement of the power supply lines of the power supply line arrangement portion of the wiring member is rearranged, and the motors of the joint actuators before the distribution supply are arranged in accordance with the joint actuators sequentially becoming the latter stage side. The power supply line is shifted with respect to the driving power. More specifically, the power supply line for one joint actuator located farthest from the signal line in the power supply line arrangement section is connected to the next-stage power terminal as the power supply line for the next-stage actuator, and the power supply line arrangement The remaining power lines of the unit are shifted to the side away from the signal line by the amount of the power line for one joint actuator, and connected to the output-side connector, thereby rearranging the power lines. Yes.

  According to the above configuration, the wiring module used in any joint actuator has the same configuration, and the wiring module can be used in common, that is, all axes can be shared. That is, the wiring module can be generalized. In this case, the configuration for rearranging the power supply lines can be easily realized by rearranging the circuit conductors between the input-side connector and the output-side connector in the wiring module, even if the configuration is complicated. Absent.

  On the other hand, in the configuration in which the power supply line and the signal line are provided as the wiring module, there is a concern about an adverse effect on the signal line due to power supply noise generated in the power supply line. For example, the power supply line is a high-voltage wiring that supplies motor driving power with a power supply voltage of several tens to several hundreds of volts, and the signal line transmits an encoder detection signal and a motor control signal, for example, using 5 V as an operating voltage. It is a weak electric system wiring. Further, in this case, in the multi-joint robot, the wiring length from the power source (for example, the robot controller) is different in each joint actuator, and the wiring length becomes larger toward the rear stage side. And the longer the wiring length, the larger the voltage drop on the signal line, so when comparing a joint actuator with a small wiring length from the power source and a joint actuator with a large wiring length, the latter is more It is considered that resistance to power supply noise (self noise) is lowered.

  In this regard, in the present invention, in the configuration in which the conductive wires of the strip-shaped wiring member such as the flexible printed wiring board are used as the power supply line and the signal line, the one joint actuator located at the position farthest from the signal line in the power supply line array portion. Are connected to the next-stage power terminal as the power line for the next-stage actuator, and the remaining power lines in the power-line array section are shifted and output by the amount of the power line for one joint actuator as described above. It was set as the structure connected to a side connector.

  According to such a configuration, in each joint actuator, a power line (for example, 200 V line) for one joint actuator that is located farthest from a signal line (for example, 5 V line) in the power line array unit is used for power distribution. In the series from the front stage side to the rear stage side, the conductive line in which the motor driving power actually flows in the power supply line array section gradually separates from the signal line as the joint actuator on the rear stage side becomes. . In other words, in the power supply line array portion of the wiring member, the number of power supply lines that are in a conductive state due to the motor drive power actually flowing decreases as the joint actuator on the rear stage side is further reduced, and the power supply line in the conductive state is further reduced. The distance between the signal line and the signal line gradually increases. In such a case, even if it is assumed that the later-stage joint actuator has a lower noise resistance in the signal line, on the other hand, the separation distance from the power line gradually increases. It will be possible to suppress the deterioration of the sex.

  As described above, according to the present invention, it is possible to realize a multi-joint robot that can share a wiring structure among a plurality of joint actuators and suppress adverse effects on the control system due to its own power supply noise.

  For example, in an articulated robot (multi-axis robot) in which a plurality of arms are connected in series, the distance between the signal line (weak wire) and the power line (strong wire) increases as you go to your hand. Even if a voltage drop of the control signal occurs on the hand side, it can be made less susceptible to self-noise.

  In the second invention, each of the motors of the plurality of joint actuators includes a motor having different required drive power, and the joint actuator on the front stage side has the required power compared to the joint actuator on the rear stage side. The driving power is large.

  Some articulated robots have different required drive power (motor output) of each motor. If each required drive power is different, the current flowing through the power supply line is different for each motor. A configuration is possible in which the joint actuator on the front side has a higher required drive power of the motor than the joint actuator on the rear side. In this case, as the power supply line with higher required driving power is moved from the front side to the rear side, the power supply is completed earlier. Here, in the joint actuator on the rear stage side, in addition to the distance between the power line (the power line in which the motor driving power actually flows and is in a conductive state) and the signal line gradually increasing, Since the electric power itself is also reduced, the adverse effects due to self-noise are further reduced.

  Speaking of multi-axis robots, the root axis (joint actuator at the foremost stage), which is the first axis, requires a large torque to support the entire robot and requires a large amount of drive power. Since the amount of support and the torque become smaller as the joint actuator is reached, a relatively small driving power can be obtained. Therefore, even if a common motor is used in the common module, the torque, that is, the driving power differs depending on each axis (each joint).

  Considering this, with the above configuration, in the wiring module used in the first axis, the power supply line closest to the signal line can be made the smallest supply power among the power supply lines, When the wiring module is used as the first axis, the influence on the signal line can be minimized. In the next second-axis wiring module, the distance between the power supply line and the signal line that has the smallest supply power among the power supply lines is further increased, and thus the signal on the hand side that tends to increase the voltage drop. Even if it is a line, it is less susceptible to self-noise due to the increased separation distance. Since this tendency is approximately proportional to going to the hand, in a robot in which both signal lines and power supply lines are arranged in the same wiring module, it is possible to obtain an effect that the signal lines are less susceptible to self-noise. .

In a third aspect of the present invention, the wiring member includes a first wiring member and a second wiring member that are arranged to overlap each other, and the first wiring member is provided with the power supply line array portion, and the second wiring The signal line is provided on the member,
The distribution terminal is provided on the input-side connector of the second wiring member, the next-stage power terminal is provided on the output-side connector, and the plurality of conductive lines are arranged in the second wiring member. The distribution terminal and the next-stage power terminal are arranged on one end side in the width direction which is the direction, and the signal line is arranged on the other end side.

  The band-shaped wiring member has a larger width dimension (width dimension in the direction in which a plurality of conductive lines are arranged) as the number of conductive lines increases. Therefore, considering the convenience of wiring accommodation space in the joint actuator, a plurality of wiring members are arranged. It is conceivable to use them and place them on top of each other. In such a case, as in the present invention, the input terminal connector of the second wiring member is provided with a distribution terminal, the output connector is provided with a power terminal for the next stage, and one end of the second wiring member in the width direction. If the distribution terminal and the next-stage power terminal are arranged on the side and the signal line is arranged on the other end side, as described above, in the first invention, the power line arrangement unit The power line for one joint actuator at a distant position is connected to the power terminal for the next stage, and the remaining power lines in the power line array section are shifted to the power line for one joint actuator and connected to the output side connector. Therefore, even if the respective wiring members are arranged so as to overlap each other, the adverse effect on the control system due to self-noise can be suppressed.

  In this case, the adverse effect on the control system due to its own power supply noise can be suitably suppressed while considering the capacity of the wiring member in each joint actuator.

The figure which shows the external appearance shape which looked at it from 4 directions about one joint actuator. The exploded view which shows the principal part structure of a joint actuator. Sectional drawing which shows the internal structure of a motor module. Sectional drawing which shows the structure of a wiring unit. The figure which shows the structure of a wiring module. The figure for demonstrating the state by which the FPC board was wound. Sectional drawing which shows the internal structure of a joint actuator. The front view which shows the structure of an articulated robot. The figure for demonstrating the structure of the various wiring on an FPC board, and allocation of the wiring about two wiring modules. The figure for demonstrating the mode of supply of the motor drive electric power in each wiring module about a 4 step | paragraph joint actuator.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment of the invention will be described with reference to the drawings. In the present embodiment, a joint actuator used in an industrial multi-joint robot (multi-axis robot) is embodied, and a configuration that can be used similarly in a plurality of joint portions as a joint actuator is constructed. That is, the joint actuators of the respective joint portions have basically the same structure, and a required number of joint actuators are used according to the number of joints of the robot. First, the configuration of the joint actuator will be described. FIG. 1 is a diagram showing an external shape of one joint actuator 10 when viewed from four directions, and FIG. 2 is an exploded view showing a main configuration of the joint actuator 10.

  As shown in FIGS. 1 and 2, the joint actuator 10 is roughly divided into a motor module 11, a top cover 12 provided on one end side (output end side) of the motor module 11, and a motor module 11. A substantially cylindrical wiring unit 13 provided on the outer peripheral side of the motor module 11 and an end cover 14 provided on the other end side (fixed end side) of the motor module 11 are provided. The joint actuator 10 is constructed by assembling these constituent elements 11 to 14 in the axial direction and fastening and integrating them with a plurality of fasteners 15 and 16 made of bolts or the like. The top cover 12 and the end cover 14 correspond to end surface members that close both ends of the motor module 11 in the axial direction.

  Next, the structure of each component 11-14 of the joint actuator 10 is demonstrated in detail. First, the configuration of the motor module 11 will be described. FIG. 3 is a cross-sectional view showing the internal structure of the motor module 11.

  The motor module 11 is configured as a servo motor with a speed reducer, and has a speed reducing function for reducing the motor rotation speed at a predetermined speed reduction ratio. In addition to this, it has a brake function and a rotation detection function. A rotor 21 is provided at the rotation center of the motor module 11, and a speed reduction unit 22, a motor drive unit 23, a brake unit 24, and rotation detection are sequentially performed from the output side (left end side in the figure) along the axial direction of the rotor 21. A portion 25 is provided. Among these, the motor drive part 23 and the brake part 24 are housed and provided in a motor housing 27 having a substantially cylindrical shape. Therefore, in terms of the appearance of the motor module 11, the speed reduction part 22 is provided on one end side of the motor housing 27, and the rotation detection part 25 is provided on the other end side (see FIG. 2).

  The motor housing 27 has a cylindrical shape that is coaxial with the rotor 21 and has a perfect circular outer peripheral surface, and an outer flange portion 27a that extends outward from the housing is formed on one end side (the speed reduction portion 22 side). In addition, an inner flange portion 27b extending inward of the housing is formed on the other end side (rotation detecting portion 25 side). A radially inner side of the inner flange portion 27b is an opening portion 27c. Note that the diameter (outer diameter) of the cylindrical portion of the motor housing 27 is D1. Similarly to the central cylindrical portion, the outer flange portion 27a also has a perfect circular outer peripheral surface, and its diameter (outer diameter) is D2.

  The rotor 21 has a solid structure with a circular cross section, and the outer peripheral surface is formed in multiple stages along the axial direction. As a configuration of the motor drive unit 23, a large-diameter portion 21a having a larger outer diameter than the others is formed at a substantially central portion in the axial direction of the rotor 21, and a permanent magnet 31 is mounted on the outer peripheral side of the large-diameter portion 21a. Has been. In addition, a stator 32 for generating a rotational force on the rotor 21 is provided on the outer peripheral side so as to surround the permanent magnet 31. The stator 32 is fixed to the inside of the cylindrical portion of the motor housing 27 by press-fitting.

  The rotor 21 is rotatably supported by bearings 34 and 35 at two locations when viewed in the axial direction. The bearings 34 and 35 are configured as sealed bearings in which a seal member (not shown) is provided on a sliding surface with the rotor 21, and are provided on both sides of the large diameter portion 21 a of the rotor 21. .

  Of the two bearings 34 and 35, the bearing 34 on the speed reduction unit 22 side is supported by a bearing holder 36 fixed to the outer flange portion 27 a of the motor housing 27. The bearing holder 36 has the same outer diameter as that of the outer flange portion 27a, and an installation recess 36a for installing the bearing 34 is formed in the through hole portion at the center thereof. In the installation recess 36 a, a disc spring 37 is provided between a radial end surface (an end surface extending in a direction orthogonal to the rotor axis) and the bearing 34. The disc spring 37 is a biasing unit that biases the bearing 34 toward the large diameter portion 21 a of the rotor 21, and an axial load is applied to the rotor 21 by the disc spring 37. In such a case, even if the rotor 21 extends in the axial direction or contracts in the axial direction due to the influence of heat or the like, the extension or contraction can be absorbed by the disc spring 37.

  The bearing holder 36 is provided between the speed reduction unit 22 and the motor drive unit 23, and an oil seal 38 is disposed on the speed reduction unit 22 side. The oil seal 38 suppresses entry of dust and oil from the outside.

  The bearing 35 on the brake part 24 side is supported by a brake body 41 provided as the brake part 24. The brake body 41 is fixed to the motor housing 27 with screws or the like, and is provided so as to surround the rotor 21 inserted therethrough. A bearing 35 is disposed between the inner peripheral portion of the brake body 41 and the outer peripheral portion of the rotor 21. The opening 27c of the motor housing 27 is provided with a holding plate 42 fixed to the brake body 41 with screws or the like, and a step portion formed on the outer peripheral portion of the rotor 21 (a step for holding a bearing). Part) and the pressing plate 42, the position of the bearing 35 in the rotor axial direction is fixed.

  According to the support structure of the rotor 21 described above, both sides of the large-diameter portion 21a facing the stator 32 are small-diameter portions having a smaller diameter than the large-diameter portion 21a, and the small-diameter portions are supported by the bearings 34 and 35. It is supported. Thereby, the enlargement of the outer diameter dimension of the rotor 21 can be suppressed. The two bearings 34 and 35 and the disc spring 37 can suitably receive the radial load and the thrust load of the rotor 21.

  The brake unit 24 is configured as an electromagnetic brake device, and allows or prohibits rotation of the rotor 21 according to the energized state of the brake body 41. Specifically, the rotor 21 is provided with rotor-side external teeth 44 in a state of protruding to the rotor outer peripheral side. The brake portion 24 is provided with brake-side inner teeth 45 that can be locked to the rotor-side outer teeth 44 and that move forward and backward in the rotor axial direction according to the energized state of the brake body 41. . When the brake body 24 is not energized to the brake body 41, the brake-side inner teeth 45 are engaged with the rotor-side outer teeth 44 (the state shown in the figure), and are maintained in the brake-on state (always brake-on). ). Then, as the brake main body 41 is energized, the brake-side inner teeth 45 are unlocked from the rotor-side outer teeth 44, and the brake-off state is entered.

  The rotation detection unit 25 includes an encoder and outputs a rotation detection signal corresponding to the rotation position of the rotor 21. The rotation detection unit 25 includes an encoder plate 47 attached to the end of the rotor 21 with screws, and a protective cover 48 provided so as to surround the encoder plate 47.

  A motor module cable 51 is connected to the stator 32 of the motor drive unit 23, the brake body 41 of the brake unit 24, and the encoder of the rotation detection unit 25 to supply power and transmit signals to each of them. Each motor module cable 51 is drawn out from the motor housing 27 and the protective cover 48, and a motor module connector 52 is attached to the distal end side of each cable 51. Of the motor module cables 51, the cables connected to the stator 32 and the brake body 41 are provided inside the motor housing 27.

  Further, as a configuration of the speed reduction unit 22, a speed reducer unit 61 is connected to the output tip side of the rotor 21. The speed reducer unit 61 is a speed reducing device having a harmonic drive (registered trademark) structure, and decelerates and outputs the rotation of the rotor 21 at a predetermined speed reduction ratio (for example, 1/100). The reduction gear unit 61 has a larger outer diameter than the cylindrical portion of the motor housing 27, and has the same outer diameter as the outer flange portion 27 a and the bearing holder 36 of the motor housing 27.

  More specifically, the speed reducer unit 61 includes a wave generator 62 in which a ball bearing is assembled on the outer periphery of an elliptical cam, and a thin and elastically deformable flex spline (elastic gear) 63 disposed outside the wave generator 62. And a rigid annular circular spline (internal gear) 64 disposed on the outside thereof. A large number of external teeth are formed on the outer peripheral portion of the flexspline 63, and internal teeth having a predetermined number (for example, two) of teeth are formed on the inner peripheral portion of the circular spline 64 than the flexspline 63. The outer teeth of the flex spline 63 and the inner teeth of the circular spline 64 are engaged with each other at the long axis portion (cam crest portion) of the wave generator 62. Further, a bearing 65 composed of a cross roller bearing is integrally provided outside the circular spline 64.

  A coupling 67 is fixed to the center of the wave generator 62 by a plurality of fasteners 66 such as screws, and the coupling 67 is fixed to the tip of the rotor 21. The bearing 65 is fixed to the bearing holder 36 by a plurality of fasteners 68 made of screws or the like.

  In the speed reduction unit 22 configured as described above, when the rotor 21 rotates, the wave generator 62 rotates together with the rotor 21, and the rotation is transmitted to the circular spline 64 via the flexspline 63. Accordingly, the circular spline 64 is decelerated at a predetermined reduction ratio and rotates with respect to the rotation of the rotor 21.

  Next, the configuration of the wiring unit 13 will be described. FIG. 4 is a cross-sectional view showing the internal configuration of the wiring unit 13.

  The wiring unit 13 is configured to include a wiring module having a power line for supplying driving power to the motor driving unit 23 and a signal line for transmitting a motor control signal in the articulated robot. In particular, in order to establish a desired electrical path between the robot controller and each joint actuator 10, it is possible to supply a plurality of systems of power corresponding to the plurality of joint actuators 10 provided in the articulated robot and to transmit signals. It has become. In the present embodiment, power supply and signal transmission are enabled for up to eight joint actuators 10 of the multi-joint robot.

  The wiring unit 13 is roughly composed of a unit main body 71 and a wiring cover 72. Refer to FIG. 2 for the separation state of the unit main body 71 and the wiring cover 72. The unit main body 71 has a substantially cylindrical cylindrical body 73 that is assembled to the motor housing 27 of the motor module 11 and has a diameter (inner diameter) of D3, which is a diameter D1 of the motor housing 27 + a minute gap. It is the dimension. The minute gap is a sliding clearance required to make the cylinder 73 rotatable in a state where the cylinder 73 is assembled to the motor housing 27. It is also possible to provide a slide bearing at the sliding portion between the motor housing 27 and the cylindrical body 73.

  One end surface 73a of the cylindrical body 73 is a contact surface that contacts the outer flange portion 27a in an assembled state with respect to the motor housing 27 (see FIG. 7). The diameter (outer diameter) of the end surface 73a is D4, which is the same as the diameter D2 of the outer flange portion 27a of the motor housing 27.

  Further, the cylindrical body 73 is provided with a module fixing portion for fixing a part of a wiring module 81 to be described later at one place in the circumferential direction. The module fixing portion includes a recess 73 b formed at one location on the outer peripheral side of the cylinder 73 and a protrusion 73 c extending from the recess 73 b in the axial direction of the cylinder 73. And by installing the connector case 74 in the module fixing part, the accommodation space S is formed inside the case.

  Further, the unit main body 71 includes a wiring module 81 as actuator electric wiring for supplying power to the motor module 11 and transmitting signals. The wiring module 81 is a thin flexible printed wiring board (hereinafter referred to as an FPC board) 82 in which an electric circuit is formed of a copper foil or the like on an insulating film such as a synthetic resin. And an input circuit section 84 provided on the input side (one end side) of the FPC board 82 and an output circuit section 83 provided on the output side (the other end side) of the FPC board 82. The FPC board 82 is provided with a plurality of conductive wires coated in an insulating manner, and power supply and signal transmission can be realized for the plurality of joint actuators 10 by the plurality of conductive wires. In the present embodiment, in particular, the unit main body 71 is configured by using two wiring modules 81 (two FPC plates 82). Then, the FPC board 82 of the own actuator is electrically connected to the FPC board 82 of the other actuator on the front stage side and the rear stage side via the input circuit section 84 and the output circuit section 83.

  Details of the wiring module 81 will be described with reference to FIG. 5A is a perspective view showing the wiring module 81 before assembly to the unit main body 71, and FIG. 5B is a plan view showing a state in which the FPC board 82 is developed in a planar shape.

  The FPC plate 82 has a winding portion 82a wound in a spiral shape, and a non-winding portion 82b that is formed at each end of the winding portion 82a and extends in a direction perpendicular to the winding portion 82a. In the state where the winding portion 82a is wound, the non-winding portion 82b is pulled out on both sides of the winding portion 82a (see FIG. 5A). For convenience of explanation, in FIG. 5B, the portion corresponding to the winding portion 82a of the FPC plate 82 is shaded. The input circuit unit 84 includes an input-side connector 84c serving as an input end of the wiring module 81, a relay unit 84b connected to one end side of the flat wiring unit of the FPC board 82, and the input-side connector 84c and the relay unit 84b. And a wiring board 84a provided on the board. The output circuit unit 83 includes an output connector 83c serving as an output end of the wiring module 81, a relay unit 83b connected to the other end of the flat wiring unit of the FPC board 82, an output connector 83c, and a relay unit 83b. And a wiring board 83a provided between the two.

  As shown in FIG. 4, the wiring module 81 is assembled to the unit body 71 such that the winding portion 82 a of the FPC board 82 and the cylinder 73 are aligned in the axial direction of the cylinder 73. In such a case, the FPC plate 82 is attached to an FPC clamper (FPC holding member) 86 at the base portion of one non-winding portion 82b (the boundary portion between the winding portion 82a and the non-winding portion 82b). Since the FPC clamper 86 is fixed to the cylinder 73 and the connector case 74, the FPC plate 82 is attached to the cylinder 73.

  FIG. 6 is a view for explaining a state in which the FPC board 82 is wound. FIGS. 6A and 6B show two wiring modules 81, respectively. For convenience of explanation, the motor housing 27 is shown by phantom lines.

  One of the two wiring modules 81 is provided by winding the FPC board 82 around the outer periphery of the motor housing 27 at a winding angle of 360 ° (number of turns = 1 turn) as shown in FIG. Yes. On the other hand, as shown in (b), the FPC plate 82 is wound around the outer periphery of the motor housing 27 at a winding angle of 540 ° (number of windings = 1 and a half). That is, in each FPC board 82, the number of windings (the number of circumferences of the outer periphery of the motor housing) is different from each other.

  Further, the joint actuator 10 of the present embodiment can rotate in both forward and reverse directions with reference to the initial state (the state shown in the figure), and the rotation output unit (top cover 12) is in the forward direction within an angle range of ± θ. And rotate in the negative direction respectively. For example, θ = 170 °. In this case, when the rotation output unit (top cover 12) rotates, the position of the output circuit unit 83 (rotational position in the circumferential direction) is changed within the range of −θ to + θ, and accordingly, the two circuit units 83 and 84 The relative position is changed. In the FPC board 82, the wiring length of the winding portion 82a is set assuming that the winding angle becomes large (when rotating in the + θ direction). In the case of this embodiment, FIG. The FPC board 82 shown in FIG. 2 has a length of about 1.5 turns, and the FPC board 82 shown in FIG. 5B has a length of about 2 turns.

  Returning to the description of FIG. 4, two FPC plates 82 are provided on the outer periphery of the motor housing 27 so as to overlap with each other. A cylindrical wiring cover 72 is attached to the outer peripheral side of the winding portion 82a of each FPC board 82 so as to surround the winding portion 82a. In this case, the winding portion 82 a of the FPC board 82 is disposed inside the wiring cover 72. By installing the wiring cover 72, protection of the FPC board 82 and dustproof measures can be realized. The wiring cover 72 is fixed to the end cover 14 instead of the cylindrical body 73, and the cylindrical body 73 is configured to rotate relative to the wiring cover 72.

  In a state in which the wiring module 81 is attached to the cylindrical body 73, the non-winding portion 82b of the FPC board 82 and the output circuit portion 83 (specifically, a part of the output circuit portion 83) are accommodated in the accommodation space S. . And in the output circuit part 83, the output side connector 83c has protruded outside the case. In addition, for each of the two wiring modules 81, the output circuit portions 83 are provided in two upper and lower stages. On the other hand, on the side opposite to the cylindrical body 73, the two input circuit portions 84 are provided in positions that are dispersed in the circumferential direction, that is, opposite to each other across the central axis of the cylindrical body 73.

  The input circuit portion 84 is provided with a distribution board portion 87 for electrically connecting the FPC board 82 to the motor module cable 51 (see FIG. 3) provided in the motor module 11. The distribution board portion 87 distributes and electrically connects any of a plurality of circuit wiring lines provided on the FPC board 82 to the motor module cable 51 (see FIG. 3). Further, a coupling hole portion 87 a for coupling the motor module connector 52 is formed in the case portion that houses the distribution board portion 87. By connecting the motor module connector 52 to the distribution board portion 87, one circuit wiring of the plurality of circuit wirings is electrically connected to the motor module cable 51, and each part of the motor module 11 (motor drive) Power supply and signal transmission to the unit 23, the brake unit 24, and the rotation detection unit 25).

  Here, the top cover 12 provided on the output side end surface portion of the motor module 11 is formed with an opening 12a for attaching the output side connector 83c (see FIG. 1). Further, the end cover 14 provided on the fixed side end surface portion of the motor module 11 is formed with an opening 14a for attaching the input side connector 84c (see FIG. 1).

  Next, the joint actuator 10 constituted by the above components will be described again. FIG. 7 is a cross-sectional view showing the internal configuration of the joint actuator 10. That is, this shows a state in which the wiring unit 13 described in FIG. 4 is assembled to the motor module 11 described in FIG. 3, and the top cover 12 and the end cover 14 are attached to both ends thereof.

  In the joint actuator 10 shown in FIG. 7, the top cover 12 is coupled to the circular spline 64 of the speed reducer unit 61 of the motor module 11 by the fastener 15. Further, the wiring unit 13 is assembled on the outer peripheral side of the motor housing 27, and the unit main body 71 of the wiring unit 13 is fixed to the top cover 12 in this state. In this case, the reduction gear unit 61 is provided in a state of being sandwiched between the top cover 12 and the cylinder 73 of the wiring unit 13. The output side connector 83 c of the wiring unit 13 is provided so as to be inserted through the opening 12 a of the top cover 12.

  A plurality of rotation restricting screws 88 for restricting the rotation range of the top cover 12 are provided on the fixed portion of the reduction gear unit 61 (the bearing 65 in the present embodiment). It can rotate within a rotation range (for example, 340 °) from the rotation regulating screw 88 to another rotation regulating screw 88.

  An end cover 14 is attached to the opposite side of the top cover 12 with a fastener such as a bolt. In this case, the end cover 14 is attached so as to cover the encoder with the inner recess 14b. A wiring cover 72 is provided between the end cover 14 and the cylinder 73 of the wiring unit 13. In the annular space formed between the motor housing 27 and the wiring cover 72, two FPC plates 82 are provided in a state of being circulated around the motor housing 27. The motor module connector 52 is coupled to the distribution board portion 87 of the input circuit portion 84.

  Here, the end cover 14 is formed to have a larger diameter than the outer diameter of the cylindrical portion of the motor housing 27 (the portion to which the cylinder 73 is assembled), and the end cover 14 has a larger diameter than the motor housing 27. An opening 14a for inserting and arranging the input side connector 84c is formed using the overhanging portion. An input side connector 84c of the wiring unit 13 is provided so as to be inserted through the opening 14a of the end cover 14.

  In the joint actuator 10 configured as described above, power is supplied and signals are transmitted to the stator 32 of the motor drive unit 23 and the brake body 41 of the brake unit 24 through the motor module cable 51 and the FPC plate 82. Similarly, the detection signal of the encoder of the rotation detection unit 25 is output through the cable 51 and the FPC board 82. The operation of the joint actuator 10 is controlled based on these power supply and signal transmission. Here, when the rotor 21 of the motor module 11 rotates, the top cover 12 rotates in either the forward or reverse direction together with the circular spline 64 that is the output shaft of the reduction gear unit 61, and the wiring unit 13 rotates the motor housing 27. Rotates as an axis. At this time, although the relative rotational positions of the circuit portions 83 and 84 (connectors 83c and 84c) provided on the top cover 12 and the end cover 14 change, they are provided around the outer periphery of the motor housing 27. The FPC plate 82 thus absorbed absorbs the change in the relative position between the circuit portions 83 and 84 (twist of the FPC plate 82 with respect to the rotor axial direction).

  Next, a configuration example of an articulated robot using the joint actuator 10 will be described. FIG. 8 is a front view showing the configuration of the articulated robot 90. FIG. 8 illustrates a three-axis horizontal articulated robot (three-axis SCARA robot), but according to the joint actuator 10 of the present embodiment, the electric system in the robot system can be a maximum of eight systems, It is also possible to construct a multi-joint robot with 4 or more axes. Further, a vertical articulated robot can be realized instead of the horizontal articulated robot.

  The multi-joint robot 90 includes three joint actuators 10, and three axes J1, J2, and J3 extending in the vertical direction are defined as rotation axes of the joint actuators 10. Specifically, the articulated robot 90 includes a base 91 that is fixed at the robot installation location. On the base 91, an output end (top cover 12 side) is upward, and a fixed end (end cover 14 side) is provided. The first joint actuator 10A is installed downward. In addition to the first joint actuator 10A, a second joint actuator 10B and a third joint actuator 10C are provided, and the first joint actuator 10A and the second joint actuator 10B are connected by a connecting arm 92 having a crank shape. The second joint actuator 10B and the third joint actuator 10C are connected by a connecting arm 93 having a flat plate shape.

  The second joint actuator 10B is installed with the output end (top cover 12 side) up and the fixed end (end cover 14 side) down, and the third joint actuator 10C has the output end (top cover 12 side) down. It is installed with the fixed end (end cover 14 side) facing up. A hand unit 94 having a tool or the like for gripping the object to be transported is attached to the output end (top cover 12 side) of the third joint actuator 10C.

  As an electrical configuration of the multi-joint robot 90, a base connector 95 is provided in a mounting portion where the joint actuator 10A is mounted on the base 91, and the joint actuator 10A is mounted on the base 91, A base connector 95 is electrically coupled to the input side connector 84c of the joint actuator 10A. In addition, arm connectors 96 and 97 are provided at the connecting portions of the connecting arm 92 to the joint actuators 10A and 10B, respectively. By connecting the connecting arm 92 to the joint actuators 10A and 10B, these joint actuators are provided. Arm connectors 96 and 97 are electrically coupled to the connectors 83c and 84c of 10A and 10B, respectively. Similarly, the connection arm 93 is provided with arm connectors 98 and 99 at the connection portions with the joint actuators 10B and 10C, respectively. By connecting the connection arm 93 to the joint actuators 10B and 10C, Arm connectors 98 and 99 are electrically coupled to the connectors 83c and 84c of the joint actuators 10B and 10C, respectively. Further, a connector 100 is provided at a connection portion of the hand portion 94 to the joint actuator 10C. By connecting the hand portion 94 to the joint actuator 10C, the output side connector 83c of the joint actuator 10C is connected. The connector 100 is electrically coupled.

  The connecting arm 92 is provided with an arm wiring 101 for electrically connecting the connectors 96 and 97, and the connecting arm 93 is provided with an arm wiring 102 for electrically connecting the connectors 98 and 99. The arm wirings 101 and 102 are also composed of a flexible printed wiring board (FPC board), like the electrical wiring (wiring module) in the joint actuator. Note that the plurality of electric paths constructed by the respective FPC boards include a power supply path and a signal transmission path to the hand unit 94.

  In the articulated robot 90 having the above-described configuration, the three joint actuators 10A to 10C are mechanically connected in series, and among them, the middle second joint actuator 10B is displaced by the movement of the first joint actuator 10A. The third joint actuator 10C in the subsequent stage is displaced by the movement of the second joint actuator 10B. Further, as an electrical path (bus line) from the base 91 to the hand unit 94, the wiring module 81 of the first joint actuator 10A → the arm wiring 101 → the wiring module 81 of the second joint actuator 10B → the arm wiring 102 → the third joint. Like the wiring module 81 of the actuator 10C, a series of paths are constructed so as to be connected to the wiring module 81 of the subsequent actuator via the wiring module 81 of the preceding actuator, and the electric power to each actuator is connected through this electrical path. Supply and signal transmission are performed. In this case, the wiring module 81 (FPC board 82) of each joint actuator 10A to 10C is used as a common wiring in all actuators (including the hand unit 94).

  In the articulated robot 90, all the wirings provided in the joint actuators 10A to 10C are internal wirings, and all the wirings provided in the connecting arms 92 and 93 are internal wirings. In the illustrated configuration, the arm wiring 101 is exposed to the outside in the vicinity of the fixed end of the joint actuator 10B. However, the exposed portion is not a portion where rotation occurs, and therefore, entanglement of wiring caused by rotation does not occur. It has become. In other words, the wiring provided in the connecting arms 92 and 93 only needs to be the wiring provided at least in the rotating portion.

  By the way, in the multi-joint robot 90 of the present embodiment, each joint actuator 10 has the same configuration as described above, and the configuration of the mechanical structure is made common. Thus, the configuration of the wiring system can also be shared. That is, the wiring module 81 constituting the wiring unit 13 is configured as a common component so that any joint actuator (in other words, any axis) can be used in common. Hereinafter, the configuration of the wiring module 81 will be described in detail again.

  As described above, the wiring module 81 includes the FPC board 82, the input circuit unit 84, and the output circuit unit 83, and the wiring unit 13 is configured using two wiring modules 81 for each joint actuator 10. FIG. 9 is a diagram for explaining the configuration of each wiring portion in the FPC board 82 and the like and the assignment of the wiring for the two wiring modules 81. One of the two wiring modules 81 includes a motor power line for supplying driving power to the motor driving unit 23 of the motor module 11, which is hereinafter referred to as “first wiring module”. The other is a motor power line other than the motor power line and includes at least a control system signal line. Hereinafter, this is referred to as a “second wiring module 81-2”. The FPC board 82-1 of the first wiring module 81-1 corresponds to the first wiring member, and the FPC board 82-2 of the second wiring module 81-2 corresponds to the second wiring member.

  Note that the two wiring modules 81-1 and 81-2 are actually arranged so as to overlap each other (see FIG. 7), but in FIG. 81-2 is shown separated vertically. That is, in the actual assembly state to the joint actuator 10, the upper side of the first wiring module 81-1 and the upper side of the second wiring module 81-2 overlap each other, and the lower side of the first wiring module 81-1 is not shown. The side and the lower side of the second wiring module 81-2 shown in FIG.

  In the two wiring modules 81-1 and 81-2, a plurality of conductive lines L are arranged in a plate shape on the FPC wiring portion, and the input side connectors 84 c of the input circuit portions 84-1 and 84-2 are provided. -1 and 84c-2 are provided with a plurality of input terminals (the same number of input terminals as the conductive lines L) corresponding to the respective conductive lines L. In addition, the output side connectors 83c-1 and 83c-2 of the output circuit units 83-1 and 83-2 are provided with a plurality of output terminals corresponding to the respective conductive lines L (the same number of output terminals as the conductive lines L). ing. In both the wiring modules 81-1, 81-2, the configuration of the input side connector is the same, and the configuration of the output side connector is also the same. The input side connectors 84c-1 and 84c-2 are electrically connected to the wiring module 81 of the previous stage joint actuator 10, and the output side connectors 83c-1 and 83c-2 are connected to the next stage joint actuator 10. The wiring module 81 is electrically connected.

  In the first wiring module 81-1, each input terminal of the input side connector 84c-1 is used as a power input terminal, and each output terminal of the output side connector 83c-1 is used as a power output terminal. Further, in the first wiring module 81-1, a plurality of conductive lines L are assigned as motor power supply lines, and the number of systems assumed in advance (eight systems in this embodiment) is secured as motor power supply lines. Is set to In the present embodiment, an AC three-phase motor is used as the motor driving unit 23, and three motor power lines are used for each joint actuator 10, which corresponds to the plurality of joint actuators 10 in the multi-joint robot. It is arranged side by side for several minutes. Thereby, the power supply line arrangement | sequence part K1 is comprised in the 1st wiring module 81-1. In this case, it suffices that at least (n-1) motor power lines corresponding to the number of actuators actually used in the articulated robot are the power line array portion K1. In this embodiment, the motor drive power is AC200V, and 200V motor drive power is supplied through each power line of the power line array unit K1.

  In the first wiring module 81-1, the same number of conductive wires as the conductive wires L of the FPC board 82-1 are provided in the input circuit section 84-1, and each of the input terminals of the input side connector 84c and the FPC are connected by this conductive wire. The conductive lines L of the plate 82 are connected on a one-to-one basis. Here, in the FPC board 82-1, a conductive wire (three conductive wires) for one joint actuator on one end side thereof is a next-stage power supply line K2 for supplying motor drive power for the next-stage actuator. .

  On the other hand, the arrangement of the motor power lines is changed in the conductor portion of the output circuit section 83-1, and the details will be described later.

  On the other hand, in the second wiring module 81-2, among the plurality of input terminals in the input side connector 84c-2, four input terminals from the connector one end side (upper end side in the figure) (for example, terminal numbers 1 to 4). Input terminal) is defined as a distribution terminal T1 for distributing motor drive power and brake drive power for each joint actuator 10, and each drive power input to the distribution terminal T1 is distributed to the own actuator. It is a configuration to be supplied. Of the four distribution terminals T1, three are input terminals for motor drive power of the own actuator, and one is an input terminal for brake drive power of the own actuator.

  Further, in the input side connector 84c-2, seven input terminals on the inner side (lower side in the figure) of the distribution terminal T1 are used for inputting brake drive power used by other actuators on the rear side of the own actuator. Brake power input terminal T2. Further, four input terminals from the other end side of the connector (lower end side in the figure) serve as signal terminals T3 for sending and receiving motor control signals.

  In the conductor portion of the input circuit section 84-2, the motor driving power and the brake driving power input from the distribution terminal T1 are transmitted to the motor driving section 23 and the brake section 24 of the own actuator through the power distribution conductive line K3. Distributed supply. The power distribution conductive line K3 is formed so as to extend in a direction intersecting the longitudinal direction of the FPC board. The distribution board portion 87 is configured including the power distribution conductive line K3.

  Further, a branch line K4 is connected to each conducting wire connected to the signal terminal T3, and an encoder signal or the like of the own actuator is transmitted / received through the branch line K4. Here, the signal line of the second wiring module 81-2 transmits and receives an encoder signal and the like by serial communication, and a half-duplex communication method is adopted as the communication method. Thereby, signal transmission and reception using a common communication line is possible for a plurality of joint actuators 10.

  Further, in the FPC board 82-2 of the second wiring module 81-2, K5 is a brake power supply line for supplying brake drive power used by another actuator on the rear stage side of the own actuator, and K6 is a motor. It is a signal line for transmitting and receiving a control signal. K7 is an empty wiring. The brake driving power is, for example, 24V as a power supply voltage. In addition, the second wiring module 81-2 is provided with a ground wire for motor / brake and the like.

  Further, among the plurality of output terminals in the output side connector 83c-2 of the output circuit unit 83-2, four output terminals from the connector one end side (upper end side in the figure) (for example, output terminals having terminal numbers 1 to 4). ) Is defined as the next-stage power terminal T4 connected to the distribution terminal T1 in the second wiring module 81-2 of the next-stage actuator, and the next-stage actuator is connected via the next-stage power terminal T4. Motor drive power and brake drive power are output. Of the four next-stage power terminals T4, three are output terminals for motor drive power of the next-stage actuator, and one is an output terminal for brake drive power of the next-stage actuator.

  Also, in the output-side connector 83c-2, seven input terminals on the inner side (lower side in the figure) of the next-stage power terminal T4 output brake power for outputting brake drive power used by other actuators on the rear stage side. This is the output terminal T5. Furthermore, four output terminals from the other end side of the connector (the lower end side in the figure) are signal terminals T6 for transmitting and receiving motor control signals.

  Further, the output circuit unit 83-2 is configured such that the arrangement of the power supply line for the motor and the power supply line for the brake is rearranged so that power is distributed to the next stage actuator. Specifically, among the power lines of the power line array portion K1 of the first wiring module 81-1, the next-stage power line K2 and the next-stage brake power line of the second wiring module 81-2 are: It is connected to the next stage power terminal T4. In this case, in particular, the power supply line K2 for the next stage is the power supply line located farthest from the signal line K6 in the power supply line array unit K1 of the first wiring module 81-1, and the power supply line K2 for the next stage is It is connected to the next-stage power terminal T4 via a rearrangement line K8 extending in a direction intersecting the longitudinal direction of the FPC board. In consideration of the fact that the two FPC boards 82-1 and 82-2 overlap each other, the rearrangement line K8 is a wiring portion that extends from one to the other between the two FPC boards. .

  In the first wiring module 81-1, the remaining motor power lines other than those for the next stage are shifted to the side away from the signal line K6 by an amount corresponding to the power line for one joint actuator and connected to the output side connector 83c-1. Has been. In this case, the remaining motor power lines other than those for the next stage are vacant by connecting the next-stage power line K2 to the next-stage power terminal T4 (that is, the next-stage power line K2 is not connected). The output terminal of the output side connector 83c-1 (TA in the figure) is connected to the output side connector 83c-1 while being shifted by the power line for one joint actuator.

  Further, each of the brake power supply lines K5 made up of a plurality of conductive lines is shifted by one conductive line away from the signal line K6, whereby the arrangement of the brake power supply lines is changed. In this case, the conductive line located farthest from the signal line K6 is connected to the next-stage power terminal T4 as the next-stage brake power supply line.

  Next, the effect | action by the rearrangement of the power supply line in the wiring module 81 is demonstrated using FIG. FIG. 10 assumes a configuration in which the joint actuators 10 for four stages are connected in series, and describes how the motor drive power is supplied to each wiring module 81 for the joint actuators 10 for the four stages. In FIG. 10, for simplification of explanation, one conductive line is shown as the motor power supply line of each actuator in the power supply line array section K1 and one conductive line is shown as the signal line K6. Also, as in FIG. 9, both wiring modules 81-1 and 81-2 are shown separated vertically. In the first wiring module 81-1 shown on the lower side, the power supply line through which the motor driving power actually flows is indicated by a solid line, and the power supply line (empty line) through which the motor driving power does not flow is indicated by a broken line. Yes.

  Each of the wiring modules 81-1 and 81-2 shown in FIG. 10 is not different from each other in each stage of the joint actuator 10, and both have a common configuration. That is, in each first wiring module 81-1, the wiring modules 81-1 at the front and rear stages are connected to each other so that the uppermost power line in the figure is the next-stage power line K2. In each of the second wiring modules 81-2, the wiring modules 81-2 at the front and rear stages are connected to each other so that the motor driving for the own actuator can be performed from the distribution terminal T1 (a predetermined input terminal common to all actuators). While power is input, motor drive power for the next stage actuator is output from the next stage power terminal T4 (a predetermined output terminal common to all actuators). Although illustration is omitted, also for the brake drive power, the power input for the own actuator and the power output for the next-stage actuator are performed via a predetermined terminal common to all actuators.

  Here, each motor drive unit 23 of the plurality of joint actuators 10 used in the multi-joint robot includes those having different required drive power (motor output), and the joint actuator on the front stage side is the rear stage side. Compared to the joint actuator, the required drive power is large. In the configuration of FIG. 8, the joint actuators 10A, 10B, and 10C have different required drive powers. The required drive power of the joint actuator 10A (previous stage actuator)> the required drive power of the joint actuator 10B (middle stage actuator). > The required drive power of the joint actuator 10C (rear actuator). In short, the joint actuator 10 on the front stage side has a large driving load, and the joint actuator 10 on the rear stage side has a small driving load. Therefore, the required driving power of each actuator is different. In addition, the root axis (joint actuator at the foremost stage), which is the first axis, requires a large amount of torque to support the entire robot and requires a large amount of drive power. Since the amount of support is reduced and the torque is reduced as it goes, a relatively small driving power can be obtained. In this case, even if a motor having a common configuration is used, the torque, that is, the driving power differs depending on each axis (each joint). In consideration of this, FIG. 10 assumes four required drive powers, which are 200 W, 100 W, 80 W, and 60 W in order from the front side.

  Each power line and signal line is connected to a robot controller (not shown) as a power source on the upstream side, and the wiring length increases toward the rear stage. In this case, the larger the wiring length, the larger the voltage drop on the signal line, so when comparing the joint actuator on the front stage with a small wiring length from the power source and the joint actuator on the rear stage with a large wiring length, The latter is considered to be less resistant to power supply noise (self noise) in the signal line.

  10, in the joint actuator 10 at the first stage, the power supply line K2 for the next stage located farthest from the signal line K6 among the power supply lines of the power supply line array unit K1 of the first wiring module 81-1. In the first wiring module 81-1, the remaining power lines other than the next stage are shifted one actuator at a time in order to rearrange the wiring.

Similarly, in the joint actuators 10 in the second and subsequent stages, the motor power lines are rearranged,
In the second stage, a 100 W power supply line is connected to the next-stage power terminal T4 as the next-stage power supply line K2 located farthest from the signal line K6.
In the third stage, an 80 W power supply line is connected to the next stage power terminal T4 as the next stage power supply line K2 located farthest from the signal line K6.
In the fourth stage, a 60 W power supply line is connected to the next stage power terminal T4 as the next stage power supply line K2 located farthest from the signal line K6. In each stage, rearrangement of power lines other than the next-stage power line K2 is also performed as shown in the figure.

  According to the above configuration, when viewed from the front stage side to the rear stage side, as the joint actuator on the rear stage side (that is, the closer to the robot hand side), the conduction in which the motor driving power actually flows in the power line array section K1. The wire (strong wire) gradually moves away from the signal line K6 (weak wire), and the number of vacant wires increases on the side closer to the signal line K6. In this case, since the distance between the motor power supply line that is actually in conduction and the signal line K6 gradually increases, the voltage drop at the signal line K6 increases as the joint actuator on the rear stage side increases in noise. Even if the tolerance is assumed to be low, the separation distance from the motor power line gradually increases on the other hand, so that it is possible to suppress a decrease in reliability with respect to power noise from the motor power line.

  Further, in any joint actuator 10, among the conductive wires (strong electric wires) in which the motor driving power is actually flowing in the power line arrangement portion K1 of the first wiring module 81-1, the side farthest from the signal line K6 (in the drawing) The upper side is the power line with the maximum power, and the side closest to the signal line K6 (the lower side in the figure) is the power line with the minimum power. In this case, in the wiring module used on the first axis (first stage), the power supply line closest to the signal line K6 has the smallest supply power among the power supply lines, and the common wiring module is connected to the first axis. Can be used, the influence on the signal line K6 can be minimized. Then, in the wiring module after the second axis (second and subsequent stages), the separation distance between the power supply line having the smallest supply power among the motor power supply lines in the conductive state and the signal line K6 gradually increases. Therefore, even the signal line on the hand side that tends to have a large voltage drop is less susceptible to self-noise due to the increased separation distance. Since this tendency is substantially proportional to going to the hand, in a robot in which both the signal line and the power line are arranged in the same wiring module, it is possible to make the signal line less susceptible to self-noise.

  According to the embodiment described in detail above, the following excellent effects can be obtained.

  Since the plurality of joint actuators 10 have the same configuration of the wiring module 81, it is possible to reduce the component cost and facilitate the assembling work of the wiring module 81 for the wiring unit 13. Further, when the wiring module 81 is rearranged (replaced), it is not necessary to determine which axis the joint actuator 10 is, and the rearrangement work becomes easy. The reusability of the wiring module 81 can also be improved.

  Specifically, in the second wiring module 81-2 of the wiring module 81, for all-shaft common (common to all actuators) for distributing and supplying motor driving power to each joint actuator 10 in the input side connector 84c-2. The terminal T1 is determined in advance, and the next-stage power terminal T4 common to all axes (common to all actuators) connected to the distribution terminal T1 by the next-stage actuator in the output-side connector 83c-2 is determined in advance. In addition, the next-stage power line K2 is connected to the next-stage power terminal T4 of the second wiring module 81-2, and the remaining motor power lines are signal lines corresponding to the motor power lines for one joint actuator. By shifting to the side away from K6 and being connected to the output side connector 83c-1, the arrangement of the motor power lines is rearranged.

  According to the above configuration, the wiring module 81 (81-1, 81-2) of each joint actuator 10 has the same configuration as that used in any joint actuator 10, and the wiring module 81 is commonly used, that is, common to all axes. Can be realized. That is, the wiring module can be generalized. In this case, the configuration for rearranging the motor power supply lines can be easily realized by rearranging the circuit wires between the input side connector 84c and the output side connector 83c in the wiring module 81, and the configuration becomes complicated. It is not accompanied.

  On the other hand, in the wiring modules 81-1 and 81-2, the next-stage power line K2 located farthest from the signal line K6 in the power-line array unit K1 is connected to the next-stage power terminal T4 and the power line As described above, the remaining power supply lines of the array unit K1 are shifted by the motor power supply line for one joint actuator and connected to the output-side connector 83c-1. As a result, even if it is assumed that the joint actuator on the rear stage side has a lower noise resistance on the signal line K6, the distance from the motor power line gradually increases on the other hand. A decrease in reliability against noise can be suppressed.

  According to the above configuration of the present embodiment, it is possible to realize a multi-joint robot that can share a wiring structure among a plurality of joint actuators 10 and suppress adverse effects on the control system due to its own power supply noise. .

  The joint actuator 10 on the front stage side has a higher required drive power than the joint actuator 10 on the rear stage side. According to this configuration, the required drive power is increased from the front stage side to the rear stage side. The higher the power supply line, the earlier the power supply is completed. In this case, in the joint actuator 10 on the rear stage side, the separation distance between the power supply line (the power supply line that is actually in a conductive state through which the motor drive power flows) and the signal line gradually increases, and the power supply line flows. Since the electric power itself is also reduced, the adverse effects due to self-noise are further reduced.

  In the wiring unit 13, one of the two FPC boards 82-1 and 82-2 arranged to overlap each other is provided with a power line array portion K1 and the other FPC board 82-2. Is provided with a signal line K6, a distribution terminal T1 is provided on the input-side connector 84c-2 of the FPC board 82-2, and a next-stage power terminal T4 is provided on the output-side connector 83c-2. In addition, a distribution terminal T1 and a next-stage power terminal T4 are arranged on one end side in the width direction of the FPC board, and a signal line K6 is arranged on the other end side.

  In this case, as described above, the next-stage power line K2 located farthest from the signal line K6 in the power-line array section K1 is connected to the next-stage power terminal T4, and the remaining power lines in the power-line array section K1 Are connected to the output-side connector 83c-1 by shifting the power supply line for one joint actuator, even if the FPC boards are arranged on top of each other, the control system by self-noise Adverse effects can be suppressed. Therefore, in the wiring unit 13 of each joint actuator 10, by arranging a plurality of FPC boards in an overlapping manner, it is advantageous in terms of the capacity of the FPC boards. It can suppress suitably.

  Further, as the configuration of the joint actuator 10, an FPC plate 82 is provided around the outer periphery of the motor housing 27, and the twist of the FPC plate 82 is suitably absorbed when the rotor rotates. Further, since the input / output circuit portions 83 and 84 of the wiring module 81 are respectively attached to the top cover 12 and the end cover 14 which are end surface members of the joint actuator 10, these circuit portions 83 and 84 are motor modules. Compared to the configuration of 11 being deployed in the radial direction (outer peripheral direction) and being drawn out, the overhang in the radial direction can be made as small as possible. Further, the motor drive unit 23 and the brake unit 24 are provided on the inner side of the motor housing 27, and the FPC plate 82 is provided on the outer side. The overall size can be reduced.

  At this time, in order to reduce the size of the joint actuator 10, it is not forced to newly develop and design a small product such as a motor or a brake.

  In the articulated robot 90, the top cover 12 and the end cover 14 of each joint actuator 10 are connected to the connecting arms 92 and 93, respectively, and the articulated robot 90 (robot) is connected by arm connectors 96 to 99 provided on the connecting arms 92 and 93. The system is configured to construct a series of electrical paths. Thereby, mechanical connection and electrical connection of the plurality of joint actuators 10 can be easily performed via the connection arms 92 and 93.

  Further, in the above configuration, when each joint actuator 10 rotates, the twist of the electrical wiring accompanying the rotation operation is only caused in the actuator electrical wiring (internal wiring in the actuator) of each wiring unit 13, It does not occur with wiring. Therefore, it is possible to avoid mechanical or electrical problems caused by twisting or entanglement of the wiring exposed to the outside.

  As described above, by preventing the entanglement of the wiring between the joint actuators, it is possible to optimize the installation of the electric wiring, and further, it is possible to reduce the size of the articulated robot.

  As described above, the configuration in which the wiring extraction by the input / output circuit units 83 and 84 is only in the module axis direction is for the joint actuator 10 of the present embodiment in which the outer peripheral side of the motor module 11 is the rotation axis of the wiring unit 13. It can be said that this is a suitable configuration.

  Since the wiring unit 13 is provided with a plurality of FPC boards 82 (two, three or more in this embodiment), the number of circuit wiring systems can be further increased. In this case, since the FPC plate 82 is thin and flexible, it can be provided around the outer periphery of the motor housing 27 with a plurality of FPC plates 82 being stacked. Even in the installed area (annular space formed between the motor housing 27 and the wiring cover 72), a plurality of FPC boards 82 can be installed.

  In the configuration using a plurality of FPC plates 82, the number of windings (winding angles) of each FPC plate 82 is different, and the circuit portions 84 on the end cover 14 side (input side) of each FPC plate 82 are provided in a distributed manner. It was. Thereby, expansion of the dimension of the radial direction in the end cover 14 side in the joint actuator 10 can be suppressed.

  Further, in the configuration in which the number of turns of each FPC plate 82 (the number of circumferences of the outer circumference of the motor housing) is different, each FPC plate 82 increases the number of turns by rotating the rotor 21 or decreases the number of turns. When the FPC plate 82 is twisted (rotated), each FPC plate 82 has a different amount of radial displacement associated with the rotation operation, and therefore, the behavior of the rotation of each FPC plate 82 is considered to be different. In such a case, since the rotor 21 rotates in both forward and reverse directions, the plurality of FPC plates 82 are separated from or approach each other in the FPC winding portion, so that inconveniences such as sticking of the FPCs can be suppressed.

  The end cover 14 is formed to have a larger diameter than the outer diameter of the cylindrical portion of the motor housing 27 (the portion where the cylindrical body 73 is assembled), and the end cover 14 has a tension larger than that of the motor housing 27. An opening 14a for inserting and arranging the input side connector 84c was formed by opening the protruding portion. Thus, in the configuration in which the FPC plate 82 is provided around the outer periphery of the motor housing 27, the input-side connector 84c provided at the end of the FPC plate 82 can be easily attached.

  In the motor module 11, the stator 32 is provided so as to face a part of the rotor 21 in the axial direction, and the speed reduction unit 22 (speed reduction) is made to face a portion that does not face the stator 32 in the axial direction of the rotor 21. Since the machine unit 61) and the brake unit 24 (brake body 41) are provided, the stator 32, the speed reducer unit 61, and the brake body 41 can be compactly arranged coaxially with the rotor 21 as the center. Therefore, as compared with a configuration in which these members are arranged in multiple axes, the entire actuator can be reduced in size.

  Further, since the rotor 21 has a large diameter portion facing the stator 32 and a small diameter other than that, it is possible to suppress the enlargement in the radial direction while ensuring the rotation capability as the motor module 11. .

  In the joint actuator 10, the motor module 11, the top cover 12, the wiring unit 13, and the end cover 14, which are constituent elements of the actuator 10, can be fastened by a plurality of fasteners including bolts and screws, and the fasteners. Separation is also possible by releasing the fastening. Therefore, it is possible to easily change the wiring unit 13 combined with the motor module 11 in the joint actuator 10. For example, a plurality of wiring units 13 having different installation forms of the FPC board 82 (specifically, a plurality of wiring units 13 having different numbers of FPC boards 82 and different numbers of circuit wirings of the FPC boards 82) are prepared. The wiring unit 13 may be replaced.

[Other Embodiments]
The present invention is not limited to the description of the above embodiment, and may be implemented as follows, for example.

In the above embodiment, in the wiring unit 13, the two FPC plates 82-1 and 82-2 are arranged to overlap each other, but this configuration may be changed. For example, a configuration in which one FPC board is used in the wiring unit 13 or a configuration in which three FPC boards are stacked on each other is possible. In such a case as well,
(A) connecting the next-stage power line K2 located farthest from the signal line K6 in the power-line array unit K1 to the next-stage power terminal T4;
(B) The remaining power lines of the power line array portion K1 are shifted to the side away from the signal line K6 by one power supply line for one joint actuator and connected to the output side connector 83c-1.
Thus, the arrangement of the power supply lines may be rearranged.

  When one FPC board is used, the power line array portion K1 and the signal line K6 are provided on the one FPC board. However, a plurality of joint actuators are also provided by the above configurations (a) and (b). The wiring structure (wiring module) in FIG. 10 can be made common, and adverse effects on the control system due to its own power supply noise can be suppressed. The same applies to the case where three FPC plates are arranged to overlap each other. However, in any case, the distribution terminal T1 is an input terminal different from the power supply input terminal to which the power supplied to the power supply line array unit K1 is input.

  In the above embodiment, in the second wiring module 81-2, the distribution terminal T1 and the next-stage power terminal T4 are connected to one end side of each connector on the input side / output side (in particular, the signal line K6 in the width direction of the FPC board). (See FIG. 9). However, the power supply input is the same structure for all actuators and the distribution terminal T1 is supplied with power supplied to the power line array section. As long as the input terminal is different from the terminal, the installation positions of the distribution terminal T1 and the next-stage power terminal T4 are arbitrary and may be changed. For example, in each of the connectors on the input side / output side, it can be provided next to the signal terminals T3 and T6 (next to the inside in the in-plane direction of the FPC board).

  In the above embodiment, the required drive power (motor output) is different from each other for the plurality of joint actuators 10, and the required drive power is larger for the joint actuator 10 on the front stage side than the joint actuator 10 on the rear stage side. However, this may be changed and the required drive power (motor output) of each joint actuator 10 may be the same.

  In the above embodiment, the motor module 11 includes the motor drive unit 23 (motor) and the brake unit 24 in the motor housing 27. In addition to the motor drive unit 23 and the brake unit 24, the motor housing It is good also as a structure which accommodates the reduction gear unit 61 in 27. FIG.

  As the speed reducer of the motor module 11, a planetary gear type speed reducer can be used instead of the speed reducer having the harmonic drive structure.

  -In the said embodiment, although the FPC board was used as a wiring member of a wiring module, you may change this. For example, as the wiring member, FFC (flexible flat cable) in which flat conductors are arranged in parallel may be used.

  DESCRIPTION OF SYMBOLS 10 ... Joint actuator, 11 ... Motor module, 13 ... Wiring unit, 23 ... Motor drive part (motor), 81 ... Wiring module, 82 ... FPC board (wiring member), 83 ... Output circuit part, 83c ... Output side connector, 84: input circuit section, 84c: input side connector, 90: articulated robot, 92, 93 ... coupling arm, K1: power line array section, K2: power line for next stage, T1: distribution terminal, T4: next stage Power terminal.

Claims (3)

Each joint portion has a joint actuator, and each joint actuator includes a motor that is rotationally driven by energization, and a power source that supplies driving power to the motor. A wiring module having a wire and a signal line for transmitting a motor control signal, and power supply and signal transmission are performed with respect to the subsequent joint actuator via the wiring module of the previous joint actuator. An articulated robot,
The wiring module is provided with a plurality of conductive wires with insulation coating arranged side by side, the plurality of conductive wires including a strip-shaped wiring member used as the power supply line and the signal line, and the wiring member includes the plurality of conductive lines. A power line array section is provided in which the power lines corresponding to several joint actuators are arrayed side by side for each joint actuator,
The input side of the wiring member is provided with an input side connector having a plurality of input terminals corresponding to the respective conductive wires and electrically connected to the wiring module of the joint actuator in the previous stage. Among the plurality of input terminals, a predetermined input terminal different from the power input terminal to which the power supplied to the power line array unit is input is a common distribution for all actuators for distributing motor drive power to each joint actuator It is defined as a terminal,
On the output side of the wiring member, an output side connector having a plurality of output terminals corresponding to the respective conductive wires and electrically connected to the wiring module of the next-stage joint actuator is provided. A predetermined output terminal of the plurality of output terminals is defined as a next-stage power terminal common to all actuators connected to the distribution terminal in a wiring module of a next-stage actuator,
In the wiring module, connecting a power line for one joint actuator located farthest from the signal line in the power line array part to the next-stage power terminal as a power line for a next-stage actuator; and The power supply line array is rearranged by shifting the remaining power supply lines of the power supply line array section to the side away from the signal line by one power supply line for the one joint actuator, and reconnecting the power supply line array. An articulated robot characterized by   The motors of the plurality of joint actuators include those having different required drive power, and the joint actuator on the front side has a higher required drive power than the joint actuator on the rear side. The articulated robot according to claim 1. The wiring member includes a first wiring member and a second wiring member that are arranged to overlap each other, of which the first wiring member is provided with the power supply line array portion, and the second wiring member includes the signal line. Is provided,
The distribution terminal is provided on the input-side connector of the second wiring member, the next-stage power terminal is provided on the output-side connector, and the plurality of conductive lines are arranged in the second wiring member. The articulated robot according to claim 1 or 2, wherein the distribution terminal and the next-stage power terminal are arranged on one end side in the width direction that is a direction, and the signal line is arranged on the other end side.

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