JPH04112794U - industrial robot arm - Google Patents

Abstract

(57) [Summary] [Structure] Drive motors 4 and 5 are provided inside a sealed frame 3 formed on the arm 2, a partition wall 6 is provided between the drive motors 4 and 5, and a penetrating wall is provided at both ends of the partition wall 6. Holes 61 and 62 are provided, an axial fan 7 is provided in one of the through holes 62, and cooling fins 8 are provided inside the frame 3 along the flow of air circulated by the axial fan 7. [Effect] Even when multiple drive motors are operated in a sealed frame, the air inside the frame flows through the cooling fins and the surface of the drive motors and circulates, increasing the cooling effect, resulting in a compact and low-noise drive. It is possible to provide a robot arm with parts.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

This invention is an industrial robot arm used in a harsh environment with a lot of dust. The present invention relates to the cooling of the arm driving section.

0002

[Conventional technology]

Conventionally, in order to reduce the weight of robots, the wrist part of the robot had multiple degrees of freedom. Multiple drive motors are mounted on one end of the arm, but the drive motors during operation are The motor generates a lot of heat, which adversely affects the motor insulation and the ICs that make up the control circuit. In order to A cooling fan is installed on the side wall in the axial direction of the motor to send cooling air, and the side wall parallel to the motor axis A device that cools the drive motor in an open manner by providing an exhaust slit and discharging cooling air. has been disclosed (for example, Japanese Utility Model Publication No. 1-23754). In addition, cooling fins are provided around the outer periphery of the drive motor, and a cooling fan is used to There has been disclosed a device that cools in a closed manner by applying cooling air around the circumference (for example, Japanese Patent Application Laid-Open No. -92086).

0003

[Problem that the idea aims to solve]

However, with the open type cooling structure described above, in an atmosphere with a lot of dust, etc., the drive motor may be exposed to dust. Dust, etc. accumulates and cooling efficiency decreases. In addition, in the above-mentioned closed cooling structure, the casing part that houses multiple drive motors is It becomes larger, making it difficult to reduce the weight of the arm, and there is no ventilation path. This has the disadvantage of generating turbulent flow, generating noise, and reducing cooling efficiency. The purpose of this invention is to efficiently cool multiple drive motors. .

0004

[Means to solve the problem]

This invention has multiple drive motors installed inside a sealed frame formed in the arm. In the arm of the industrial robot, a partition wall is provided between the plurality of drive motors. , providing through holes at both ends of the partition wall, and installing a circulation fan in one of the through holes; In the direction of flow of circulating air flowed by the circulation fan inside the frame Cooling fins are provided along the length.

[0005]

[Effect]

A bulkhead is installed between multiple drive motors mounted in a sealed frame. , through holes are provided at both ends of this partition wall, a circulation fan is installed in one of the through holes, and one drive The air inside the frame is circulated from one drive motor to the other drive motor. The heat generated by the drive motor is transferred to the circulating air flowed by the circulating fan. The heat of the circulating air is transferred to the cooling fins fixed to the frame. Heat is radiated to the outside of the frame.

[0006]

【Example】

An embodiment of the present invention shown in the drawings will be described. Figure 1 is a cross-sectional side view of the main parts of an embodiment of the present invention, and Figure 2 is a plane cross-section of the main parts. 3 and 3 are front sectional views. A wrist portion 3 is provided that can be tilted and rotated about the longitudinal direction. a The frame 2 is composed of a box-shaped frame 21 having a space inside. Two drive motors for tilting and rotating the wrist portion 3 are installed inside the tip portion 22, which is the opposite end. 4 and 5 are attached. A partition wall 6 is provided between the drive motors 4 and 5, Through holes 61 and 62 are provided near the tip 22 and the other end 23 of the partition wall 6. Ru. An axial fan 7 is attached to the through hole 62 near the other end 23, as shown by the arrow in FIG. As shown by the mark, the air inside the frame 21 flows over the surface of the drive motor 4 and penetrates it. The air that flows through the hole 61 over the surface of the drive motor 5 and returns to the axial fan 7 for circulation. I try to create a flow. Inside the frame 21, there is a A plurality of cooling fins 8 are provided to rectify the flow of circulating air inside the frame 21, and The cooling effect is increased by increasing the contact area with the circulating air. Therefore, from two drive motors mounted in a sealed frame, The generated heat is cooled by circulating air flowed by an axial fan, and the circulating air The heat is transferred to the cooling fins fixed to the frame and radiated to the outside of the frame. . In addition, since the frame is sealed, the energy generated by the drive motor transmitted to the outside There is very little noise. In addition, the number of drive motors is not limited to two, and circulating air is provided in the frame. The circulation fan that is generated is not limited to an axial flow fan.

[0007]

[Effect of the idea]

As described above, according to the present invention, the sealed Even when operating multiple drive motors in a single frame, the internal air can be circulated through the fan. The cooling fins installed on the frame circulate the air and cool it down. We can provide a robot arm with a compact, high-output drive unit with low noise. It has the effect of reducing

[Brief explanation of drawings]

FIG. 1 is a side view showing a main part of an embodiment of the present invention in cross section.

FIG. 2 is a plan sectional view of the main part of the present invention as seen from the direction of the arrow shown in FIG. 1;

FIG. 3 is a front sectional view of the main part of the present invention taken along the cross section shown in FIG. 2;

[Explanation of symbols]

1 robot 2 Arm 21 frame 3 Wrist part 4, 5 Drive motor 6 Bulkhead 61, 62 Through hole 7 Axial fan 8 Cooling fins

Claims (1)

[Scope of utility model registration request] 1. An industrial robot arm in which a plurality of drive motors are provided inside a sealed frame formed on the arm, wherein a partition wall is provided between the plurality of drive motors, and through holes are provided at both ends of the partition wall. An arm for an industrial robot, characterized in that a circulation fan is attached to the one of the through holes, and cooling fins are provided inside the frame along a direction in which circulating air flowed by the circulation fan flows.