JP2012161887A - Robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot capable of preventing the internal pressure of a reducer storage chamber from rising even if the temperature of the reducer rises and preventing the lubricant in the reducer storage chamber from flowing out.
In a SCARA robot A, a driving device 32 is connected and fixed to a frame member 31, and an output portion 35 of a speed reducer 33 driven by the driving device 32 is connected and fixed to a frame member 21. The frame member 31 was assembled in a rotatable manner, and a lubricant was filled in the reducer housing chamber that houses the reducer 33. Then, a pressure release path 38 and an air tube that extend from a predetermined portion of the space portion 33b of the reduction gear storage chamber above the upper surface of the lubricant to an upper point above the predetermined portion and communicate with the reduction gear storage chamber to the outside. 39 is provided on the frame member 31, and a coil portion 39 a is formed in the middle of the air tube 39.
[Selection] Figure 9

Description

  The present invention relates to a robot in which a second member is rotatably assembled to a first member via a speed reducer and a lubricant is filled in a speed reducer storage chamber for storing the speed reducer.

  Conventionally, robots have been used for mounting electronic components, and some of such robots include a first arm and a second arm connected via a speed reducer (for example, Patent Documents). 1). In this robot, the motor is mounted in the second arm with the output shaft directed horizontally, and a speed reducer having the input shaft connected to the output shaft of the motor is fixed to the second arm. And the 1st arm is being fixed to the output shaft of the reduction gear. Further, a sealed space for the gearbox of the speed reducer is formed by the housing of the speed reducer, the end surface portion of the second arm, the frame of the first arm, the lid portion, and the like, and lubricating oil is contained in the sealed space in the gearbox of the speed reducer. Is filled.

  Furthermore, a substantially L-shaped tube is rotatably provided on the lid portion forming the sealed space with the horizontal direction as the axial direction. The tube extends coaxially with the output shaft of the motor and is rotatably mounted on the lid portion. The first tube portion having one end communicating with the atmosphere and the other of the first tube portions. And a second tubular portion that is bent approximately 90 degrees from the end portion and protrudes upward from the upper surface of the lubricating oil in the sealed space. A weight is provided at the lower portion of the corner where the first tubular portion and the second tubular portion intersect, or a float is provided at the upper end portion of the second tubular portion, so that the driving force of the motor is reduced by a speed reducer. Even when the first arm and the second arm are moved relative to each other, the second tubular portion can always be kept in the vertical direction, and the upper end opening of the second tubular portion can always be positioned above the upper surface of the lubricating oil in the sealed space. it can. When the pressure in the gearbox, that is, in the sealed space rises due to the temperature in the gearbox rising due to the operation of the reducer and the lubricating oil and air in the gearbox expanding, the air expanded through the tube Flows out and the gearbox is maintained at atmospheric pressure.

JP 2002-295646 A

  However, in the above-described conventional robot, the oil surface of the lubricating oil undulates due to the shaking of the second arm, so that not only air but also the lubricating oil is taken into the tube from the upper end opening of the second tubular portion, In such a case, there is a problem that the lubricating oil that has flowed out adheres to electronic parts and peripheral devices to be transported or that the life of the speed reducer is reduced by lubrication.

  The present invention has been made to cope with such a problem, and an object of the present invention is to prevent an increase in the internal pressure of the reduction gear storage chamber even when the temperature of the reduction gear increases, and to reduce the reduction gear storage chamber. It is an object to provide a robot that can prevent the lubricant from flowing out. In the description of each constituent element of the present invention below, the reference numerals of corresponding portions of the embodiment are shown in parentheses in order to facilitate understanding of the present invention. The present invention should not be construed as being limited to the configurations of the corresponding portions indicated by the reference numerals of the forms.

  In order to achieve the above-described object, the configuration features of the robot according to the present invention include a driving device (12, 32, 82), an input unit (14, 34), an output unit (15, 35), and inputs thereof. A speed reducer (33, 73) including a case member (16, 36) for rotatably supporting the output portion and the output portion, a first member (11, 21), and a rotatable set with respect to the first member A second member (31, 71, 81) to be found, and the drive device and the case member of the speed reducer are connected to one of the first member and the second member, and the output The part is connected to the other one of the first member and the second member, fills a reduction gear storage chamber (33b, 73a) for storing the reduction gear, and drives the input portion by the driving device. Thereby rotating the second member relative to the first member. In the robot (A) to be driven, the reducer storage chamber communicates with the outside by extending from a predetermined portion of the reducer storage chamber above the upper surface of the lubricant to an upper point above the predetermined portion. A communication path (38, 39, 69, 78, 79, 88, 89) is provided so as to be located in at least one of the first member and the second member, and a spiral portion (39a, 69a, 79, 89).

  In the robot according to the present invention, the speed reducer is accommodated by extending from the speed reducer storage chamber storing the speed reducer connecting the first member and the second member to a predetermined upper point above the upper surface of the lubricant in the speed reducer storage chamber. A communication passage is provided for communicating the chamber to the outside. And the spiral part is formed in the middle of the communicating path. For this reason, the communication path can be lengthened, and the volume of the communication path can be increased accordingly. As a result, when the internal pressure rises due to the temperature in the decompressor housing chamber rising due to the operation of the reducer, a part of the air in the decompressor housing chamber flows out from the reducer housing chamber to the internal pressure in the decompressor housing chamber. Is prevented from rising.

  Even when the lubricant enters the communication path together with the air flowing out to the outside, the volume of the communication path is large, so that the lubricant is prevented from flowing out of the communication path. When the temperature or pressure in the decompression chamber is lowered due to the stoppage of the decompression device, the lubricant in the communication path returns to the decompression chamber. For this reason, it can prevent that the internal pressure of a reduction gear storage chamber raises, and can prevent that the lubricant of a reduction gear storage chamber flows out outside, the circumference | surroundings become dirty, and the lifetime of a reduction gear is reduced. . Note that grease or oil can be used as the lubricant.

  Another structural feature of the robot according to the present invention is that the second member is composed of a frame member (31, 61, 81) having a lower surface portion (31d, 81a) positioned above the first member (21). Then, the drive device (32, 82) for driving the input portion (34) of the speed reducer (33) is connected and fixed to the upper surface side of the lower surface portion of the frame member, and the output portion (35) of the speed reducer is first connected. The lower surface of the frame member constitutes the upper surface wall of the speed reducer storage chamber, the upper and lower through portions (31e) are formed in the upper surface wall, and the output shaft ( 32b) and the input part of the speed reducer are connected, the upstream part (38, 88) of the communication path is formed in the frame member, and the downstream part provided with the spiral part (39a, 69a, 89) in the upstream part It is connected.

  According to the robot of the present invention, the first member, the second member, the speed reducer that connects the first member and the second member, and the drive device that is connected to the input unit of the speed reducer can be assembled in a compact manner. Further, since the second member is constituted by the frame member, the drive device can be housed inside the frame member. In the present invention, the frame member indicates a frame, a frame, a skeleton, and the like, and a driving device such as a cylinder or a box can be installed. In addition, the downstream portion of the communication path may include a spiral portion in part, or may be configured entirely by a spiral portion.

  Still another structural feature of the robot according to the present invention is that the spiral portion (39a, 69a) is wound around the outer periphery of the drive device (32). According to this, since it is not necessary to separately provide a space for arranging the spiral portion, space saving can be achieved.

  Still another structural feature of the robot according to the present invention is that the first member is composed of a frame member (11) having an upper surface portion (11a) positioned below the second member (71), and the speed reducer The drive device (12) for driving the input portion (14) of (73) is connected and fixed to the lower surface side of the upper surface portion of the frame member, and the output portion (15) of the speed reducer is connected and fixed to the second member. A part (71a) of the two members constitutes the upper surface wall of the speed reducer storage chamber, and the upper and lower penetrating portions (11b) are formed on the upper surface portion of the frame member, and the output shaft of the drive device is passed through the upper and lower penetrating portions. (12b) and the input part of the reduction gear are connected, the upstream part (78) of the communication path (78, 79) is formed in the second member, and the downstream part provided with the spiral part (79) in the upstream part It is in having connected.

  According to the robot of the present invention, the first member, the second member, the speed reducer that connects the first member and the second member, and the drive device that is connected to the input unit of the speed reducer can be assembled in a compact manner. Further, since the first member is constituted by the frame member, the driving device can be housed inside the frame member. Also in this invention, a frame member shows what was provided with the space which can install a drive device, such as a frame, a framework, and frame | skeleton, and shall include a cylindrical shape and a box-shaped thing.

  Still another structural feature of the robot according to the present invention is that a base portion (10), a first arm (70) whose one end side is rotatably supported by the base portion, and one end on the other end side of the first arm. And a second arm (30) rotatably supported on the side, the first member (11) is included in the base portion, and the second member (71) is included in the first arm. According to this, it is possible to prevent the pressure in the reducer housing chamber that houses the reducer that connects the base portion and the first arm from being increased, and to prevent the lubricant in the decompressor housing chamber from flowing out to the outside. it can. In this case, the speed reducer may be included in the base portion or included in the first arm.

  Still another structural feature of the robot according to the present invention is that the base portion, the first arm (20) whose one end side is rotatably supported by the base portion, and the one end side rotatable at the other end side of the first arm. And the second member (31, 61, 81) is included in the second arm. The second member (31, 61, 81) is included in the second arm. . According to this, while being able to prevent the pressure in the reduction gear storage chamber which stores the reduction gear which connects a 1st arm and a 2nd arm from rising, the lubricant in the decompression device storage chamber can flow out outside. Can be prevented. In this case, the speed reducer may be included in the first arm or may be included in the second arm.

  Still another structural feature of the robot according to the present invention is that a lubricant reservoir chamber (55) is provided at a position below the upper point of the first member or the second member, and the downstream end of the communication path is the lubricant reservoir. It has been opened in the room.

  When the first member is included in the base portion and the second member is included in the first arm, the lubricant reservoir chamber is provided in the second member of the first arm, the first member is included in the first arm, When the second member is included in the second arm, the lubricant reservoir chamber is preferably provided in the second member of the second arm. In addition, when the first member and the second member are arranged so that the input part and the output part of the speed reducer are positioned in the horizontal direction instead of the upper and lower sides, the lubricant reservoir chamber is arranged in the input part of the speed reducer. It is preferable to provide the first member or the second member. According to this, even if the lubricant flows out of the communication path, the lubricant enters the lubricant reservoir chamber, so that it is prevented from flowing out of the first member or the second member. Further, when another member is connected to the second member and a lubricant reservoir chamber is provided in the member, the lubricant reservoir chamber is provided in the second member.

It is the front view which showed the SCARA robot which concerns on 1st Embodiment of this invention. It is sectional drawing which showed the state which cut | disconnected the front part side of the base part. It is sectional drawing which showed the state which cut | disconnected a little rear side rather than the base part of FIG. It is sectional drawing which showed the state which cut | disconnected the center part of the front-back direction of a base part. It is sectional drawing which showed the state which cut | disconnected a back side a little rather than the center part of the front-back direction of a base part. It is sectional drawing which showed the state which cut | disconnected the front part side of the connection part of a 1st arm and a 2nd arm. It is sectional drawing which showed the state which cut | disconnected a little back side rather than the connection part of the 1st arm and 2nd arm of FIG. It is sectional drawing which showed the state which cut | disconnected the center part of the front-back direction of the connection part of a 1st arm and a 2nd arm. It is sectional drawing which showed the state which cut | disconnected a little back side rather than the center part of the front-back direction of the connection part of a 1st arm and a 2nd arm. FIG. 10 is a cross-sectional view taken along 10-10 in FIG. 1. It is sectional drawing which showed the state which cut | disconnected the front part side of the Z-axis moving part. It is sectional drawing which showed the state which cut | disconnected the center part of the front-back direction of a Z-axis moving part. It is sectional drawing which showed the principal part in the SCARA robot which concerns on 2nd Embodiment of this invention. It is sectional drawing which showed the principal part in the SCARA robot which concerns on 3rd Embodiment of this invention. It is sectional drawing which showed the principal part in the SCARA robot which concerns on 4th Embodiment of this invention. It is sectional drawing which showed the principal part in the SCARA robot which concerns on the reference example of this invention.

(First embodiment)
Hereinafter, a robot according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a SCARA robot A according to the embodiment. The SCARA robot A includes a base unit 10, a first arm 20, a second arm 30, and a Z-axis moving unit 40. The base portion 10 is fixedly installed on a floor, a base, a wall surface or the like, and is fixedly installed on a rectangular box-shaped case 11 and an upper portion in the case 11 as shown in cross sections of different parts in FIGS. And a reduction gear 13 that is assembled to the upper portion of the motor 12 and fixedly installed on the upper surface portion 11 a of the case 11. 2 to 5 show cross-sections of the respective portions from the front side to the rear side of the base portion 10 and the first arm 20 rotatably connected to the base portion 10 from the front side to the rear side. It shows in order. Moreover, in the following description, the up-down direction and the left-right direction are described based on FIG.

  An insertion hole 11b is formed in the left side portion of the upper surface portion 11a of the case 11, and the motor 12 and the speed reducer 13 are connected to the rotary shaft 12b and the speed reducer 13 that serve as the output shaft of the motor 12 through the insertion hole 11b. The input part 14 is attached to the upper surface part 11a in a connected state. The motor 12 includes a rotating shaft 12b rotatably supported by a motor case 12a via a bearing, a rotor provided on the outer periphery of the rotating shaft 12b, a stator disposed opposite to the outer periphery of the rotor, a rotation detection resolver, and the like. It consists of The motor 12 protrudes the rotating shaft 12b upward and passes through the insertion hole 11b upward from below, and is connected to the input portion 14 of the speed reducer 13. The motor case 12a is connected to the upper surface portion 11a. It is being fixed to the lower surface of this by the screw 11c.

  The speed reducer 13 is known as a harmonic drive (registered trademark), and includes an input unit 14 connected to the rotating shaft 12 b of the motor 12 and an output unit 15 connected to the first arm 20. The rotation of the rotating shaft 12b of the motor 12 is decelerated and transmitted to the first arm 20. The input unit 14 is formed of a so-called wave generator in which an insertion hole is formed at the center, the rotary shaft 12b is key-fitted, and an outer shape forms an elliptical cam. A ball bearing is provided around the outer periphery of the wave generator. A so-called flexspline is provided. This flexspline constitutes the output unit 15.

  As shown in FIG. 4, the flexspline serving as the output unit 15 is provided with a flange-like portion that extends horizontally on the upper edge of a thin, elastically deformable cylindrical body that extends vertically, An external gear is formed on the outer peripheral portion of the lower end portion of the cylindrical body, and the flange-like portion is connected to the first arm 20. The external gear of the flexspline meshes with an internal gear 16 having internal teeth with a slightly larger number of teeth than the external gear on the inner periphery. The internal gear 16 constitutes a so-called circular spline, and is fixed to the upper surface of the upper surface portion 11a of the case 11 along the peripheral edge portion of the insertion hole 11b. As can be seen from the above configuration, the internal gear 16 rotatably supports the flexspline serving as the output unit 15 along the internal gear, and rotates the wave generator serving as the input unit 14 via the flexspline and the ball bearing. The case member according to the present invention is configured to be supported and attached to the same upper surface portion 11 a as the motor 12.

  Further, a bearing 17 is provided on the outer peripheral upper portion of the cylindrical portion of the output portion 15 with a minute gap. In the bearing 17, an inner ring 17 a is connected and fixed to the upper end surface of the internal gear 16, and an outer ring 17 b is fixed to the first arm 20 with a screw 17 c so as to sandwich a flange-like portion of the output portion 15. The inner ring 17a is not in contact with the flange-like portion and the cylindrical portion of the output portion 15 by providing a minute gap. As a result, the first arm 20 is rotatably supported with respect to the case 11 via the bearing 17 and the internal gear 16, and the driving force of the motor 12 causes the rotation shaft 12 b, the input unit 14, and the output unit 15 to move. Is transmitted through. Further, an oil seal 17d is provided at the lower part of the boundary between the inner ring 17a and the outer ring 17b in the bearing 17, thereby preventing the grease in the speed reducer 13 from leaking and in the speed reducer 13. Intrusion of foreign matter such as water droplets and dust is prevented.

  Note that, between the upper surface of the upper surface portion 11a of the case 11 and the internal gear 16, between the internal gear 16 and the inner ring 17a, between the outer ring 17b and the flange-shaped portion of the output portion 15, and the flange-shaped portion of the output portion 15 and the first arm. Seal members (not shown) are respectively disposed between the lower surface portion 21 d of 20 and between the motor 12 and the lower surface of the upper surface portion 11 a of the case 11. That is, a sealed space is formed by the upper surface of the motor case 12a, the inner wall of the insertion hole 11b of the upper surface portion 11a of the case 11, the internal gear 16, the inner ring 17a, the outer ring 17b, the oil seal 17d, and the lower surface portion 21d of the first arm 20. In this sealed space, a ball bearing between the input portion 14 (wave generator) and the output portion 15 (flexspline), a meshing portion between the external gear of the output portion 15 (flexspline) and the internal gear 16, a bearing A portion requiring lubrication of the speed reducer 13 including a rolling element between the inner ring 17a and the outer ring 17b is housed.

  That is, a portion surrounded by the upper surface of the motor case 12a, the bearing 17 of the speed reducer 13, and the lower surface portion 21d of the frame member 21 forms a sealed space, and the speed reducer storage chamber according to the present application is configured. . Note that there is a large gap between the internal gear 16 and the external gear formed on the outer periphery of the elliptical columnar shape of the output portion 15 (flex spline), except for the meshing portion, and the upper surface of the motor case 12a in the sealed space through this gap. And a portion close to the lower surface portion 21d of the first arm 20 communicate with each other.

  Further, one end portion of the flexible tube 18 extending toward the second arm 30 is fixed to the right side portion of the upper surface portion 11a of the case 11 by an attachment member 18a. Various cables, a suction air pipe, and the like are accommodated in the flexible tube 18. The right side surface portion 11c of the case 11 includes a wiring connector 19a and the like for connecting various ends in the case 11 such as various cables and suction air pipes to the wiring 19 and the like outside the case 11. Various connectors are provided. A sensor 25 is installed in front of the motor 12 in the case 11 so as to pass through the upper surface portion 11 a of the case 11 and upward of the case 11. A sensor dog 26 is provided. When the sensor 25 detects the sensor dog 26, it is recognized that the first arm 20 is at the origin position with respect to the case 11.

  The first arm 20 has an elongated rectangular cylindrical frame member body 21a having a longer length in the width direction (front-rear direction in FIG. 1) and a longer length in the left-right direction than the length in the height direction, and a frame A frame member 21 including a pair of lid portions 21b and 21c fixed by screws 22 to both side opening edges of the member main body 21a is provided. A mounting concave portion 23a is formed in the right side portion of the lower surface of the lower surface portion 21d of the frame member 21, and the output portion 15 of the speed reducer 13 described above is fixed to the mounting concave portion 23a. A similar mounting recess 23b (see FIGS. 7 to 9) is also formed on the left side portion of the upper surface of the upper surface portion 21e of the frame member 21, and the second arm 30 described later is decelerated in the mounting recess 23b. Machine 33 is attached.

  The second arm 30 includes a frame member 31 including a frame member main body 31a having substantially the same shape as the frame member main body 21a, and lid portions 21b and 31c having the same shape as the lid portions 21b and 21c, respectively. The second arm 30 has a motor 32 installed on the right side in the frame member 31 and a frame assembled to the lower portion of the motor 32 as shown in cross sections of different parts in FIGS. A reduction gear 33 installed on the lower surface of the member 31 is also provided. 6 to 9 show the respective cross sections at the same position in the front-rear direction as in FIGS. 2 to 5, and the first arm 20 and the second arm 30 are mutually connected via a speed reducer 33 as shown in the figure. It is connected rotatably. FIG. 10 shows a cross-sectional shape of a connecting portion between the first arm 20 and the second arm 30 which is a cross section taken along the line 10-10 in FIG.

  An insertion hole 31e that constitutes the upper and lower penetrating portions according to the present invention is formed in a portion of the lower surface portion 31d of the frame member 31 where the motor 32 is installed. Then, the motor 32 projects the rotating shaft 32b serving as an output shaft downward, penetrates the insertion hole 31e from the upper side to the lower side, and fixes the motor case 32a to the upper surface of the lower surface portion 31d. It is installed in the frame member 31. The motor 32 is composed of the same model, although the vertical position of the motor 32 is reversed. The reducer 33 is also of the same model, although the position in the vertical direction is opposite to that of the reducer 13 described above. Therefore, although the details are omitted, the speed reducer 33 includes an input unit (wave generator) 34 connected to the rotation shaft 32 b of the motor 32 and an output unit (flexspline) 35 connected to the first arm 20. The rotation of the rotating shaft 32b of the motor 32 is decelerated and transmitted to the first arm 20.

  Further, the internal gear 36 is arranged so as to be engaged with the tooth portion formed on the outer peripheral upper portion of the output portion 35, and the internal gear 36 is disposed on the bottom surface along the peripheral edge portion of the insertion hole 31 e. Like the internal gear 16, it is fixed to the lower surface of the portion 31d and constitutes a case member according to the present invention. And the bearing 17 is provided in the outer periphery of the lower part of the cylindrical part of the output part 35 with a slight gap. The bearing 37 is fixed to the upper surface portion 21 e of the frame member 21 such that the inner ring 37 a is connected and fixed to the lower end of the inner gear 36, and the outer ring 37 b sandwiches the lower end flange-shaped portion of the output portion 35.

  Thus, the second arm 30 is rotatably supported with respect to the first arm 20 via the bearing 37, and the driving force of the motor 32 is supplied via the rotary shaft 32b, the input unit 34, and the output unit 35. It is transmitted to one arm 20. At this time, since the number of teeth of the external gear is slightly smaller than the number of teeth of the internal gear 36 with which the external gear of the output unit 35 meshes, the rotation of the input unit 34 is decelerated and transmitted to the output unit 35. Further, an oil seal 37c is provided at the upper portion of the boundary between the inner ring 37a and the outer ring 37b in the bearing 37, thereby preventing the grease in the speed reducer 13 from leaking and in the speed reducer 33. Intrusion of foreign matter such as water droplets and dust is prevented.

  In addition, the attachment part to the lower surface part 31d of the frame member 31 of the motor case 32a, between the lower surface part 31d and the internal gear 36, between the internal gear 36 and the inner ring 37a, between the outer ring 37b and the flange-shaped part of the output part 35, Between the flange-shaped part of the output part 35 and the upper surface part 21e of the 1st arm 20, the sealing member not shown is each arrange | positioned. That is, a sealed space is formed by the lower surface portion of the motor case 32a, the inner surface of the insertion hole 31e of the lower surface portion 31d of the frame member 31, the internal gear 36, the inner ring 37a, the outer ring 37b, and the upper surface portion 11a of the case 11 of the first arm 20. In this sealed space, a ball bearing between the input portion 34 and the output portion 35, a meshing portion between the external gear and the internal gear 36 of the output portion 35, and a rolling element between the inner ring 37a and the outer ring 37b of the bearing 37. A portion requiring lubrication of the speed reducer 33 made up of and the like is stored.

  Thus, the periphery of the part located between the frame member 21 and the frame member 31 in the speed reducer 33 is covered with the bearing 37, and mainly the bearing 37, the upper surface portion 21e of the frame member 21, The portion surrounded by the lower surface of the motor case 32a forms a sealed space, and the speed reducer 33 is composed of the input unit 34, the output unit 35, the ball bearing between the input unit 34 and the output unit 35, and the internal gear 36. A reduction gear storage chamber according to the present invention for storing the mechanism portion is configured.

  There is a large gap between the internal gear 36 and the external gear formed on the outer periphery of the elliptical columnar shape of the output portion 35, except for the meshing portion, and the lower surface side portion of the motor case 32a in the sealed space through this gap. The portion on the upper surface portion 21e side of the frame member 21 communicates. A space portion 33b is configured by a portion near the lower surface of the motor case 32a, a gap, and a portion on the upper surface portion 21e side of the frame member 21 that is inside the lower cylindrical portion of the output portion 35. The space 33b in the reduction gear housing is filled with grease as a lubricant according to the present invention. Although this grease is solidified at normal temperature, it is liquefied when the temperature of the space portion 33 b is increased by the operation of the speed reducer 33, and the height of the liquid level is about the upper surface of the input unit 34.

  As shown in FIGS. 9 and 10, the lower surface portion 31d of the frame member 31 has a horizontal hole extending rightward from the inner peripheral surface of the insertion hole 31e, and a lower surface of the lower surface portion 31d intersecting the horizontal hole. A pressure release path 38 formed of a vertical hole penetrating the upper surface is formed, and the opening at the front end of the horizontal hole and the lower end of the vertical hole are respectively closed by a plug 38a. Further, the left end portion of the pressure relief path 38 is opened to an insertion hole 31e which is a portion on the lower surface side of the motor case 32a constituting the space portion 33b. The pressure release path 38 is provided to release the air in the space portion 33b to the outside and maintain the space portion 33b at atmospheric pressure when the internal pressure increases as the temperature of the space portion 33b increases. 9 and FIG. 10 are cross sections different from those of FIG. 6 and FIG. 7, and the tip portion of the air tube 39 reaching the motor cover 55 described later is not shown.

  Further, the end of the air tube 39 is connected to the upper end opening of the vertical hole of the pressure relief path 38. The air tube 39 is provided to prevent the grease from being scattered inside or outside the frame member 31 when part of the grease overflows from the space portion 33b and further flows out from the pressure release passage 38. It has been. The air tube 39 is composed of a tube made of urethane, nylon, or fluororesin, and extends to the left slightly upward from the upper end opening of the vertical hole of the pressure release path 38, and then moves the outer periphery of the motor 32 from below to above. The front end of the motor 32 reaches the inside of a motor cover 55, which will be described later.

  The coil portion 39a constituting the spiral portion of the air tube 39 may be formed by sequentially winding a straight tube around the outer periphery of the motor 32, or after preheating and forming into a coil shape, the motor You may attach to the outer periphery of 32. The volume of the air tube 39 is such that the maximum amount of grease and air that flows out from the pressure release path 38, for example, grease that flows out from the pressure release path 38 due to pressure generated when the reducer 33 is about to break and generates high heat, Set in consideration of the amount of air. The pressure release path 38 and the air tube 39 constitute a communication path according to the present invention. In addition, the opening of the pressure release path 38 to the insertion hole 31e, which is the lower surface side portion of the motor case 32a constituting the space portion 33b, is filled with grease filled in the space portion 33b as the temperature of the space portion 33b rises. When liquefied, it is above the level of the liquid surface, which is about the upper surface of the input unit 34, and becomes a predetermined part according to the present invention. On the other hand, the upper end portion of the coil portion 39a is above the opening portion of the pressure release path 38 to the insertion hole 31e, and is an upper point according to the present invention.

  A sensor 25 is installed on the outer peripheral portion of the pressure release path 38 and the air tube 39 on the lower surface portion 31d of the frame member 31 so as to face the lower side of the frame member 31, and above the outer ring 37b of the bearing 37. A sensor dog 26 indicating the origin position is provided. When the sensor 25 detects the sensor dog 26, it is recognized that the second arm 30 is at the origin position with respect to the first arm 20. In addition, the tip of the flexible tube 18 extending from the upper surface portion 11a of the case 11 is fixed to the portion on the right side of the center of the upper surface portion 31f of the frame member 31 by the mounting member 18b.

  A Z-axis moving unit 40 is provided on the left end side of the second arm 30. The Z-axis moving unit 40 is configured as shown in cross sections of different parts in FIGS. 11 and 12, and has a vertically long cover 41, a vertically disposed hollow operating shaft 42, and an operating shaft 42. Is provided with a rotary drive device 43 that rotates the shaft about the axis and a lifting device 50 that moves the operating shaft 42 in the vertical direction. The cover 41 is provided on the left end side of the upper surface portion 31 f of the frame member 31, and is a portion located above the upper surface portion 31 f of the frame member 31 among the operating shaft 42, the rotation drive device 43 and the lifting device 50. Is surrounded from above and around.

  The rotation drive device 43 includes a motor 44 and a speed reducer 45 through which the operation shaft 42 penetrates. The motor 44 is fixed to the frame member 31 through mounting holes provided in the upper and lower sides of the frame member 31, and includes a cylindrical rotating shaft 44b and a rotating shaft 44b that are rotatably supported in the motor case 44a. A rotor provided on the outer periphery, a stator disposed opposite to the outer periphery of the rotor, a rotation detection resolver, and the like. The reducer 45 is of the same model as the reducers 13 and 33 described above, and includes an input unit 45a, an output unit 45b, and an internal gear 45c. And the bearing 46 is provided in the outer periphery of the cylindrical part of the output part 45b.

  A ball spline nut 47 is connected to the outer ring 46a of the bearing 46 via a mounting member 47a. A plurality of vertical grooves are formed at regular intervals in the circumferential direction on the inner peripheral surface of the ball spline nut 47. Further, the operating shaft 42 is composed of a ball spline shaft having a plurality of vertical grooves 42a formed on the outer peripheral portion. The vertical shaft 42a is engaged with the vertical grooves of the ball spline nut 47, and the motor 44, the speed reducer 45, and The ball spline nut 47 is installed so as to be vertically movable. The lower end of the operating shaft 42 is rotatably supported by the frame member 31 via a ball spline nut 47 and a bearing 46, and the upper end is fixed via a bearing (not shown), and rotation caused by the operation of the motor 44. The force is reduced by the speed reducer 45 and rotates together with the ball spline nut 47.

  The upper end portion of the operating shaft 42 is supported by a connecting member that is rotatable and fixed in the vertical direction via a bearing (not shown), and a ball screw shaft provided in the lifting device 50 via a connecting member 52 and a ball screw nut 53. 51 is connected. The lifting device 50 includes a motor 54 in addition to the ball screw shaft 51, the connecting member 52, and the ball screw nut 53. The motor 54 is fixed to the frame member 31 through the mounting holes provided on the upper and lower sides on the right side of the portion of the frame member 31 to which the motor 44 is mounted, and the lower end of the motor 54 is below the frame member 31. Protruding. And the part which protruded below is covered with the motor cover 55 attached to the lower surface of the lower surface part 31d. The motor cover 55 is included in the frame member 31.

  The front end portion of the air tube 39 described above enters the motor cover 55, and the front end reaches the vicinity of the bottom of the motor cover 55. An adsorption sheet 56 for adsorbing grease is laid on the bottom of the motor cover 55. The ball screw shaft 51 is connected to the rotation shaft of the motor 54 and rotates by the operation of the motor 54. The ball screw nut 53 is screwed to the ball screw shaft 51, and the connecting member 52 connects the ball screw nut 53 and the upper end portion of the operating shaft 42. For this reason, the rotation of the ball screw shaft 51 causes the ball screw nut 53 to move up and down along the ball screw shaft 51, whereby the operating shaft 42 also moves up and down.

  Further, a stopper member 57 serving as a stopper when the operating shaft 42 is raised in the Z-axis direction is fixed to the lower portion of the operating shaft 42, and a head (not shown) is fixed to the tip of the operating shaft 42. A working tool such as a tool and a working device such as a chuck, a working arm, and a suction device are attached to the head. Various cables and suction air pipes passing through the case 11 and the flexible tube 18 are connected to motors 12, 32, 44, and 54, working devices attached to the head, and the like. Further, the wiring 19 and the like are connected to a control device (not shown) and a power source, and each device provided in the SCARA robot A operates according to the control of the control device.

  When the SCARA robot A configured as described above is operated as, for example, a component mounter for mounting an electronic component on a substrate or the like, a device on which the electronic component is mounted, such as a substrate, is installed at a predetermined location, A part is prepared in a predetermined place, and a suction device is mounted on a head that is attached to the lower portion of the operating shaft 42 via a stopper member 57, and the suction device is provided via the hollow portion of the operating shaft 42 and the flexible tube 18. And a negative pressure pipe communicating with an external negative pressure device. When the SCARA robot A starts to operate by operating a switch or the like, the first arm 20 rotates on the horizontal plane about the rotation axis 12b of the motor 12 with respect to the base unit 10, and the first arm 20 On the other hand, the second arm 30 rotates on a horizontal plane around the rotation shaft 32b of the motor 32, and moves the operation shaft 42 to the installation location of the electronic component. Next, the operation of the motors 44 and 54 causes the suction device at the lower end of the operation shaft 42 to move down and rotate around the Z axis (vertical axis) to attract electronic components to the suction device in a predetermined direction. Like that.

  In this state, the electronic device is attracted to the suction device by the operation of the suction device. Next, the operation of the motor 54 raises the suction device, and the operation of the motors 12 and 32 causes the first arm 20 to rotate relative to the base 10 and the second arm 30 to rotate relative to the first arm 20. The suction device moves above a predetermined position on the substrate. Next, the suction device is lowered by the operation of the motors 44 and 54, and the electronic component is positioned in a predetermined direction of the substrate by rotating around the Z axis. In this state, the suction of the electronic component by the suction device is released, and the electronic component is mounted on the substrate. By repeating this operation, a plurality of electronic components are sequentially mounted on the substrate.

  When the SCARA robot A is operated, if the speed reducer 33 generates heat, this heat causes the grease in the space portion 33b to be liquefied. At this time, if the second arm 30 swings vigorously, the oil surface of the liquefied grease undulates and the liquid grease may flow into the pressure release path 38 or the air tube 39. The coil portion 39 a of the air tube 39 is provided on the outer periphery of the motor 32. The coil portion 39 a of the air tube 39 is provided in the vicinity of the motor 32 that is the center of rotation of the second arm 30. For this reason, the liquid grease which flows into the air tube 39 through the pressure release path 38 can be retained at the lower portion in the coil portion 39a. Further, when the air pressure of the space portion 33b rises as the temperature of the space portion 33b rises, the air in the space portion 33b flows into the pressure release path 38. At this time, air passes through the air tube 39 from the pressure release path 38 and escapes to the outside, and the space portion 33b is maintained at atmospheric pressure.

  Even when liquid grease and air are mixed, the coil portion 39a of the air tube 39 is sufficient to accommodate the grease and air even if it flows from the pressure release path 38 into the air tube 39. Since it has a volume, liquid grease or air hardly reaches the upper point that is the upper end portion of the coil portion 39a. In addition, even when the grease has a predetermined weight and viscosity, it is resistant to the upward movement of the liquid grease in the coil portion 39a.

  Even if liquid grease or air passes over the upper point that is the upper end of the coil portion 39 a and flows further to the distal end side of the air tube 39, the distal end portion of the air tube 39 is located inside the motor cover 55. Therefore, the liquid grease enters the motor cover 55 and is adsorbed by the adsorption sheet 56. This prevents the inside and outside of the second arm 30 from being contaminated with grease. Further, the liquid grease that has entered the coil portion 39a of the air tube 39 returns from the pressure release path 38 into the space portion 33b when the operation of the SCARA robot A is stopped.

  As described above, in the SCARA robot A according to the present embodiment, from the upper surface of the liquefied grease in the space portion 33b of the reduction gear storage chamber that stores the reduction gear 33 that connects the first arm 20 and the second arm 30. A pressure relief path 38 and an air tube 39 are provided which extend from a predetermined portion above to an upper point above the predetermined portion and communicate with the space portion 33b of the reduction gear housing. And the coil part 39a which formed the long tube spirally in the middle of the air tube 39 is provided. For this reason, the whole length of the pressure release path 38 and the air tube 39 can be lengthened, and the volume corresponding to the lengthened length can also be increased. Thereby, even if the temperature of the space portion 33b rises due to the operation of the speed reducer 33 and the atmospheric pressure rises, a part of the air flows out from the space portion 33b to the outside, and the air pressure in the space portion 33b rises. Is prevented.

  Even if liquid grease enters the inside of the pressure release path 38 or the air tube 39 together with the air flowing out to the outside, the volume of the pressure release path 38 and the air tube 39 is large, or the liquid grease The grease is prevented from flowing out of the air tube 39 due to the predetermined weight and viscosity. And when the temperature in the space part 33b falls by the stoppage of the reduction gear 33, the liquid grease in the air tube 39 returns to the space part 33b. For this reason, it can prevent that the atmospheric | air pressure of the space part 33b rises, and can also prevent that the grease of the space part 33b flows out outside. Accordingly, it is possible to prevent the grease from being reduced and the reduction gear 33 from being easily damaged.

  Further, in this embodiment, since the coil portion 39a of the air tube 39 is wound around the outer periphery of the motor 32, it is not necessary to provide a space for arranging the coil portion 39a, and space saving can be achieved. Further, since the tip end portion of the air tube 39 is extended to the vicinity of the bottom portion of the motor cover 55 positioned below the upper point of the air tube 39, even when the grease flows out of the air tube 39, the grease remains in the motor cover 55. Since it accumulates in the inside, it is prevented from flowing out to the outside of the second arm 30.

(Second Embodiment)
FIG. 13 is a cross-sectional view showing the main part of the SCARA robot according to the second embodiment of the present invention. In this robot, the distal end portion of the air tube 69 provided in the frame member 31 extends only to the upper end portion of the coil portion 69a. The other parts of the configuration of the SCARA robot are the same as those of the SCARA robot A described above. Accordingly, in FIG. 13, the same parts other than the air tube 69 are denoted by the same reference numerals and description thereof is omitted.

  In the SCARA robot according to the present embodiment, like the air tube 39 of the first embodiment described above, the distal end portion is guided to the inside of the motor cover 55 from the coil portion 39a through the central portion in the left-right direction of the frame member 61. The air tube 69 is not located in the center portion of the frame member 61 in the left-right direction. For this reason, when processing the thing inside the frame member 31 for a maintenance etc., the air tube 69 does not become obstructive. Moreover, the air tube 69 can be formed compactly. According to the present embodiment, when liquid grease flows from the air tube 69 into the frame member 61, the inside of the frame member 61 becomes dirty. This causes damage to the speed reducer 33. This occurs only when the temperature of the space 33b becomes abnormally high, and is therefore an acceptable range without taking any special measures. Other functions and effects of the SCARA robot are the same as those of the SCARA robot A described above.

(Third embodiment)
FIG. 14 is a cross-sectional view showing the main part of the SCARA robot according to the third embodiment of the present invention. In this robot, a pressure release that vertically penetrates the lower surface portion 71a of the frame member 71 of the first arm 70 and opens directly into a sealed space between the lower surface portion 71a and the input portion 14, that is, a part of the reducer storage chamber. A path 78 is formed, and an air tube 79 composed only of a coil portion extends from the upper end of the pressure release path 78 in a spiral shape upward. Moreover, the reduction gear 73 is accommodated in the reduction gear storage chamber which consists of the structure similar to the reduction gear storage chamber of 1st Embodiment mentioned above, and the space part 73a of a reduction gear storage chamber is filled with grease. . The other parts of the configuration of the SCARA robot are the same as those of the SCARA robot A described above. Therefore, in FIG. 14, the same reference numerals are given to the same parts, and the description thereof is omitted. In the part shown in FIG. 14 in this SCARA robot, the base portion 10 constitutes a first member according to the present invention, and the first arm 70 constitutes a second member according to the present invention.

  In the SCARA robot according to the present embodiment, it is possible to prevent grease from being scattered inside and outside the frame member 71 not only in the second arm 30 but also in the first arm 70. The air tube 79 of this SCARA robot also has a tip portion extending only to the upper end portion, similar to the coil portion 69a of the air tube 69 described above, but the first arm 70 swings more slowly than the second arm 30. Therefore, it is possible to more reliably prevent the grease from flowing out from the air tube 79. Other functions and effects of the SCARA robot are the same as those of the SCARA robot A described above.

(Fourth embodiment)
FIG. 15 is a cross-sectional view showing a main part of a SCARA robot according to the fourth embodiment of the present invention. In this robot, the pressure release that vertically penetrates the lower surface portion 81a of the frame member 81 of the second arm 80 and opens directly into a sealed space between the lower surface portion 81a and the input portion 14, that is, a part of the reducer storage chamber. A path 88 is formed, and an air tube 89 composed only of a coil portion extends from the upper end of the pressure release path 88 in a spiral shape upward. In other words, in the present embodiment, the air tube 89 is installed not on the outer periphery of the motor 82 but on the side of the motor 82 with a reduced diameter. The other parts of the configuration of the SCARA robot are the same as those of the SCARA robot A described above. Therefore, in FIG. 15, the same reference numerals are given to the same parts and the description thereof is omitted. According to this SCARA robot, the same operational effects as those of the SCARA robot according to the second embodiment described above can be obtained.

(Reference example)
FIG. 16 is a cross-sectional view showing a main part of a SCARA robot according to a reference example of the present invention. In this SCARA robot, the air tube 99 is not provided with a coil portion, and the air tube 99 extends from the pressure release path to the left in the upper part in the frame member 91 of the second arm 90, and its tip portion is , Located near the bottom of the motor cover 95. The other parts of the configuration of the SCARA robot are the same as those of the SCARA robot A described above. Therefore, in FIG. 16, the same reference numerals are assigned to the same parts, and the description thereof is omitted. According to this SCARA robot, since the grease flowing out from the air tube 99 is accumulated in the motor cover 95, the grease is scattered inside or outside the second arm 90 without providing a coil portion in the air tube 99. Can be prevented. Other functions and effects of this SCARA are the same as those of the SCARA robot A described above.

  Further, the robot according to the present invention is not limited to the above-described embodiments, and can be implemented with appropriate modifications. For example, in each embodiment described above, grease is used as the lubricant, but oil may be used instead. In the first embodiment, the lubricant reservoir chamber is constituted by the motor cover 55. As the lubricant reservoir chamber, a separate sealed chamber is provided inside the frame member 21, and the lubricant is stored in the sealed chamber. A pool chamber may be configured. In this case, the sealed chamber can be installed in the vicinity of the coil portion 39a.

  Further, the robot according to the present invention not only installs and fixes the base unit 10 on the floor or the platform so that the first arm 20 and the second arm 30 move in a horizontal plane, but also the first arm 20 and the second arm 30. The two arms 30 may be installed so as to move within an inclined plane inclined with respect to the horizontal plane. Even in this case, the opening of the pressure release path to the reduction gear storage chamber filled with the lubricant is located above the upper surface of the liquid or liquefied lubricant in the robot in the reduction gear storage chamber.

  Further, in the fourth embodiment, the air tube 89 may be extended to the motor cover 55. Also in the second to fourth embodiments, a sealed chamber may be provided inside the frame members 31, 71, 81, and the lubricant reservoir chamber may be configured by this sealed chamber. Furthermore, in 3rd Embodiment, the motor 12 may be installed in the frame member 71, and the up-down direction of the motor 12 and the reduction gear 13 may be made reverse. In this case, the air tube 79 may be wound around the outer periphery of the motor 12 or may be installed in the vicinity of the motor 12. Moreover, in each embodiment mentioned above, although the coil parts 39 and 69a and the air tubes 79 and 89 are formed in the spiral shape which goes upwards from the downward direction, you may wind up and down at random, or go upwards and downwards. You may form helically. Furthermore, the configuration of other parts of the robot according to the present invention can be changed as appropriate within the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 10 ... Base part, 11 ... Case, 11b, 31e ... Insertion hole, 12, 32, 82 ... Motor, 12b, 32b ... Rotary shaft, 33, 73 ... Reduction gear, 14, 34 ... Input part, 15, 35 ... Output Part, 20, 70 ... first arm, 21, 31, 71, 81 ... frame member, 31d, 71a, 81a ... lower surface part, 30, 80 ... second arm, 33b, 73a ... space part, 38, 78, 88 ... Pressure release path, 39, 69, 79, 89 ... Air tube, 39a, 69a ... Coil part, 55 ... Motor cover, A ... SCARA robot

Claims (7)

A speed reducer including a drive device, an input unit, an output unit, and a case member that rotatably supports the input unit and the output unit, a first member, and the first member are rotatably assembled to the first member A second member; and the drive device and the case member of the speed reducer are connected to one of the first member and the second member, and the output portion includes the first member and the first member. The second member is connected to the other of the two members, filled with a lubricant in a reduction gear storage chamber for storing the reduction gear, and driven by the driving device to drive the input unit. In a robot that is driven to rotate,
A communication path that extends from a predetermined portion of the reduction gear storage chamber above the upper surface of the lubricant to an upper point above the predetermined portion and communicates the reduction gear storage chamber to the outside is provided with the first member and the first member. A robot provided so as to be positioned on at least one of two members, and having a spiral portion formed in the middle of the communication path. The second member is composed of a frame member having a lower surface portion located above the first member, and a driving device for driving the input portion of the speed reducer is connected and fixed to the upper surface side of the lower surface portion of the frame member. And connecting and fixing the output part of the speed reducer to the first member,
The lower surface portion of the frame member constitutes the upper surface wall of the speed reducer storage chamber, the upper and lower through portions are formed in the upper surface wall, and the output shaft of the drive device and the speed reducer are arranged through the upper and lower through portions. Connect the input part,
The robot according to claim 1, wherein an upstream portion of the communication path is formed on the frame member, and a downstream portion including the spiral portion is connected to the upstream portion.   The robot according to claim 2, wherein the spiral portion is wound around an outer periphery of the driving device. The first member is composed of a frame member having an upper surface portion located below the second member, and a driving device for driving the input portion of the speed reducer is connected and fixed to the lower surface side of the upper surface portion of the frame member. And connecting and fixing the output part of the speed reducer to the second member,
A part of the second member forms an upper surface wall of the speed reducer storage chamber, and an upper and lower penetrating portion is formed on the upper surface portion of the frame member, and the output shaft of the driving device is interposed through the upper and lower penetrating portion. And the input part of the speed reducer,
The robot according to claim 1, wherein an upstream portion of the communication path is formed in the second member, and a downstream portion including the spiral portion is connected to the upstream portion.   A first arm having one end side rotatably supported by the base portion; and a second arm having one end side rotatably supported by the other end side of the first arm, the first member being The robot according to claim 1, wherein the robot is included in the base portion, and the second member is included in the first arm.   A first arm having one end side rotatably supported by the base portion; and a second arm having one end side rotatably supported by the other end side of the first arm, the first member being The robot according to claim 1, wherein the robot is included in the first arm, and the second member is included in the second arm.   The lubricant reservoir chamber is provided at a position below the upper point of the first member or the second member, and the downstream end of the communication path is opened by the lubricant reservoir chamber. Robot described in 1.

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