JPH01274993A - Heat radiation type joint - Google Patents
Heat radiation type jointInfo
- Publication number
- JPH01274993A JPH01274993A JP10173088A JP10173088A JPH01274993A JP H01274993 A JPH01274993 A JP H01274993A JP 10173088 A JP10173088 A JP 10173088A JP 10173088 A JP10173088 A JP 10173088A JP H01274993 A JPH01274993 A JP H01274993A
- Authority
- JP
- Japan
- Prior art keywords
- jacket chamber
- heat
- joint body
- joint
- drive mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005855 radiation Effects 0.000 title 1
- 239000007788 liquid Substances 0.000 claims abstract description 15
- 238000009834 vaporization Methods 0.000 abstract description 4
- 230000008016 vaporization Effects 0.000 abstract description 4
- 230000017525 heat dissipation Effects 0.000 description 8
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000009833 condensation Methods 0.000 description 3
- 230000005494 condensation Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 description 2
- 239000000314 lubricant Substances 0.000 description 2
- 229910021529 ammonia Inorganic materials 0.000 description 1
- 238000009835 boiling Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- NBVXSUQYWXRMNV-UHFFFAOYSA-N fluoromethane Chemical compound FC NBVXSUQYWXRMNV-UHFFFAOYSA-N 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000191 radiation effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
この発明は産業用ロボットを構成する放熱形関節に関す
るものである０
〔従来の技術〕
従来この種装置として、例えば特開昭６０−１０８２９
２号公報に示されたものがあり、その概略を第６図に示
す０第５図にお―で、（１） ＃ （２）は軸受（３）
を介して回転自在に係合された第１．第８の関節体、（
４）は第１．第２の関節体（１） ｅ （２）内部に配
設され、両者を相対回転させる駆動機構、（５）は主軸
、（６）は主軸（５）Ｋ取り付けられたマグネツ）、（
７）は主軸（５）を回転させるための電機子ステータ、
（８）は主軸（５）の回転を減速して第１．第２の関節
体（１） ＃ （２）を相対回転させる減速機であり、
これら（ｆｉ）〜（８）によシ駆動機構（４）が構成さ
れている。（９）は主軸（５）の回転角度を検出するエ
ンコーグユニット、αａは第１の関節体（１）に固定さ
れたアーム、■は第２の関節体（２）に固定されたアー
ム、（２）は第１の関節体（１）に取シ付け、られたヒ
ートパイプ、Ｄは放熱板である。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] This invention relates to a heat dissipating joint constituting an industrial robot. [Prior Art] As a conventional device of this type, for example, Japanese Patent Application Laid-Open No. 10829-1982
There is a bearing shown in Publication No. 2, and its outline is shown in Figure 6.
The first. Eighth joint body, (
4) is the first. Second joint body (1) e (2) Drive mechanism disposed inside to rotate both relative to each other, (5) is the main shaft, (6) is the main shaft (5) K attached magnet), (
7) is an armature stator for rotating the main shaft (5);
(8) decelerates the rotation of the main shaft (5). It is a speed reducer that relatively rotates the second joint body (1) # (2),
These (fi) to (8) constitute the drive mechanism (4). (9) is an encode unit that detects the rotation angle of the main shaft (5), αa is an arm fixed to the first joint body (1), ■ is an arm fixed to the second joint body (2), (2) is a heat pipe attached to the first joint body (1), and D is a heat sink.
次に動作について説明する。電機子ステータ（７）から
発生する熱は第１の関節体（１）を通してヒートパイプ
（２）に伝達される。ヒートパイプ（２）に伝達された
熱は放熱板（至）に搬送され放熱される。この動作の繰
り返しにより電機子ステータ（７）は冷却され温度上昇
が抑制されるようになっている。Next, the operation will be explained. Heat generated from the armature stator (7) is transferred to the heat pipe (2) through the first joint body (1). The heat transferred to the heat pipe (2) is transferred to the heat sink (to) and radiated therefrom. By repeating this operation, the armature stator (7) is cooled and temperature rise is suppressed.
しかしながら上述した従来装置では、管状のヒートパイ
プ（２）により熱を吸収してその熱を放熱板０に搬送し
て放熱するようにしており、ヒートパイプ＠における熱
輸送能力、放熱板（至）における熱伝達による放熱能力
が十分であるとは言いがたく、電機子ステータ（７）の
温度上昇を十分に抑制することができないという課題が
ある。従って、関節内部の温度上昇が抑制できなφので
、エンコーダ等内界センサの信頼性も不十分なものとな
ると共に減速機の潤滑剤の長寿命化も図れない課題があ
る。However, in the conventional device described above, the tubular heat pipe (2) absorbs heat and transfers the heat to the heat sink 0 to radiate the heat. It cannot be said that the heat dissipation capacity by heat transfer in the armature stator (7) is sufficient, and there is a problem that the temperature rise of the armature stator (7) cannot be sufficiently suppressed. Therefore, since the temperature rise inside the joint cannot be suppressed, the reliability of internal sensors such as encoders becomes insufficient, and the life of the lubricant of the reducer cannot be extended.
この発明は上記のような課題を解決するためになされた
ものであり、高信頼性の放熱形量節を提供するものであ
る。The present invention has been made to solve the above-mentioned problems, and provides a highly reliable heat dissipation system.
この発明に係る放熱形量節は、第１の関節体又は第２の
関節体の外周部に開口部を有するジャケット室を配設し
、ジャナツト室の開口部を囲繞するよう配設され、波形
状に形成された複数の波形部を有しかつそれら両端部が
封止されて長手方向に延在し、ジャケット室の開口部と
連通ずる開口部を有する容器体を設け、容器体とジャケ
ット室内部に作動液体を封入したものである。The heat dissipation type joint according to the present invention includes a jacket chamber having an opening on the outer periphery of the first joint body or the second joint body, and the jacket chamber is disposed so as to surround the opening of the jacket chamber, and the jacket chamber is arranged so as to surround the opening of the jacket chamber. A container body is provided which has a plurality of corrugated portions formed in the shape, and has both ends thereof sealed and has an opening that extends in the longitudinal direction and communicates with the opening of the jacket chamber, and the container body and the jacket chamber are connected to each other. A working liquid is sealed inside.
この発明における放熱形量節は、容器体とジャケット室
内部に封入された作動液体は駆動機構から発生した熱に
よシ加熱されて沸騰し蒸気化し、その熱を蒸発潜熱とし
て奪い容器体の波形部先端側に熱輸送し外部空気中に凝
縮潜熱として放熱して液化し、液化した作動液体はジャ
ケット室に還流する。このような動作の繰り返しにより
駆動機構を冷却する。The heat dissipation type clause in this invention is such that the working liquid sealed inside the container body and the jacket chamber is heated by the heat generated from the drive mechanism, boils and vaporizes, and absorbs the heat as latent heat of vaporization to form a waveform of the container body. The heat is transported to the tip side of the section, radiated into the external air as latent heat of condensation, and liquefied, and the liquefied working liquid flows back into the jacket chamber. The drive mechanism is cooled by repeating such operations.
以下、この発明の一実施例を第１図及び第２図に基づ−
て説明する。これら各図において、（１）は第１の関節
体、（３）は軸受、（４）は駆動機構、（７）は電機子
ステータ、（ロ）は第１の関節体（１）の外周部に配設
されたジャケット室であり、開口部（１４−）を有して
いる。又、ジャケット室α４は第２図に示すように円周
方向に円弧状に延在している◇（２）はジャケット室α
４の開口部（１４ｍ）を囲繞し、波形状に形成された複
数の波形部（１５ａ）を有しかつそれら波形部（４５ａ
）の両端部が封止されて長手方向に延在して長手方向の
空間部（１５ｍ）が形成され、ジャケット室（２）の開
口部（１４＆）と連通ずる開口部（１δ０）を有する容
器体、ωは容器体側とジャケット室α４内部に封入され
た例えば水、フロン、アンモニア等の作動液体である。An embodiment of the present invention will be described below based on FIGS. 1 and 2.
I will explain. In each of these figures, (1) is the first joint body, (3) is the bearing, (4) is the drive mechanism, (7) is the armature stator, and (b) is the outer periphery of the first joint body (1). It is a jacket chamber arranged in the section and has an opening (14-). In addition, the jacket chamber α4 extends in an arc shape in the circumferential direction as shown in Fig. 2 ◇ (2) is the jacket chamber α
It surrounds the opening (14m) of No. 4 and has a plurality of waveform parts (15a) formed in a wave shape, and these waveform parts (45a
) is sealed at both ends, extends in the longitudinal direction to form a longitudinal space (15 m), and has an opening (1δ0) that communicates with the opening (14&) of the jacket chamber (2). ω is a working liquid such as water, fluorocarbon, ammonia, etc., which is sealed on the side of the container body and inside the jacket chamber α4.
尚、容器体（２）の波形部（１５ａ）は第１の関節体（
１）の周方向に沿った長手方向に延在している。Note that the corrugated portion (15a) of the container body (2) is connected to the first joint body (
1) extends in the longitudinal direction along the circumferential direction.
次に動作について説明する。ジャケット室α４内の作動
液体（至）は電機子ステータ（７）から発生した熱によ
シ加熱されて沸騰し蒸気化し、その熱を蒸発潜熱として
奪い容器体部の各波形部（１５ａ）の空間部（ｌ１５ｂ
）を通ってそれら波形部（ｌ１５ｍ）の先端側に熱輸送
し外部空気中に凝縮潜熱として放熱して作動液体酷の蒸
気は液化し、液化した作動液体（至）は容器体側の波形
部（１５＆ ）の壁面に沿ってジャケット室（２）に還
流する。このような自然動作の繰り返しにより電機子ス
テータ（７）の冷却が効率的に行われる。ところで、ジ
ャケット室α４は円周方向にも円弧状に延在しており、
その内部の作動液体部の沸騰能力が蓄しく大きくなり、
しかも作動液体ωの蒸気の移動部面積も増大し熱輸送能
力が著しく向上する。又、容器体（至）の波形部（１５
ａ）を介して外部空気中に放熱するので、外部空気との
熱交換面積が著しく大きなものとなり、その放熱効果も
著しく向上する。これらの結果、電機子ステータ（７）
の冷却能力が従来のものと比し著しく大きなものとなり
、電機子ステータ（７）の温度上昇を十分に抑制するこ
とができる。従って、関節内部の温度上昇を十分に抑制
することができるので、エンコーダ等内界センサの高信
頼性化が図れると共に減速機の潤滑剤の長寿命化を実現
することができ、関節全体の寿命、信頼性を向上できる
。さらには、駆動機構のパワーアップや小形軽量化も可
能である。Next, the operation will be explained. The working liquid in the jacket chamber α4 is heated by the heat generated from the armature stator (7), boils and evaporates, and absorbs the heat as latent heat of vaporization, which is applied to each corrugated portion (15a) of the container body. Space part (l15b
), the heat is transferred to the tip side of the corrugated part (l15m), and the heat is radiated into the external air as latent heat of condensation, and the vapor of the working liquid is liquefied. 15& ) along the wall of the jacket chamber (2). By repeating such natural operation, the armature stator (7) is efficiently cooled. By the way, the jacket chamber α4 also extends in an arc shape in the circumferential direction,
The boiling capacity of the working liquid inside it increases,
Furthermore, the area of the moving portion of the vapor of the working liquid ω is increased, and the heat transport ability is significantly improved. In addition, the corrugated portion (15) of the container body (to)
Since the heat is radiated into the outside air via a), the heat exchange area with the outside air becomes significantly large, and the heat radiation effect is also significantly improved. As a result of these, the armature stator (7)
The cooling capacity of the armature stator (7) is significantly greater than that of the conventional one, and the rise in temperature of the armature stator (7) can be sufficiently suppressed. Therefore, the temperature rise inside the joint can be sufficiently suppressed, making it possible to improve the reliability of internal sensors such as encoders, and extend the life of the lubricant of the reducer, thereby extending the life of the joint as a whole. , reliability can be improved. Furthermore, it is possible to increase the power of the drive mechanism and make it smaller and lighter.
尚、上記実施例では容器体側の波形部（１５１Ｌ）が第
１の関節体（１）の周方向に沿った長手方向に延在して
いる場合について述べたが、第３図及び第４図に示すよ
うに容器体部の波形部（１１５ｍ）’を第１の関節体（
１）の軸方向に沿った長手方向に延在するように配設し
てもよく、上記実施例と同様の効果を奏する。In the above embodiment, the case where the corrugated portion (151L) on the container body side extends in the longitudinal direction along the circumferential direction of the first joint body (1) has been described, but FIGS. As shown in , the corrugated part (115m)' of the container body is connected to the first joint body (
1) may be arranged so as to extend in the longitudinal direction along the axial direction, and the same effect as the above embodiment can be obtained.
又、上記実施例ではジャケット室α４ ＃ 容器体（至
）、作動液体ωが第１の関節体（１）に配設された場合
について述べたが、第２の関節体（２）Ｋ配設してもよ
いことは勿論のことである。Furthermore, in the above embodiment, the jacket chamber α4 # container body (to) and the working liquid ω are arranged in the first joint body (1), but the second joint body (2) K is arranged. Of course, it is okay to do so.
この発明は以上説明した通シ、容器体とジャケット室内
部に封入された作動液体は駆動機構から発生した熱によ
り加熱されて沸騰し蒸気化し、その熱を蒸発潜熱として
奪い容器体の波形部先端側に熱輸送し外部空気中に凝縮
潜熱として放熱して液化し、液化した作動液体はジャケ
ット室に還流し、このような動作の繰り返しによシ駆動
機構を効率的に冷却するようにしたので、関節内部の温
度上昇を十分に抑制することができ、高信頼性の放熱形
量節を得ることができる。This invention is based on the above-described process, in which the working liquid sealed in the container body and the jacket chamber is heated by the heat generated from the drive mechanism, boils and vaporizes, and absorbs the heat as latent heat of vaporization at the tip of the corrugated portion of the container body. The heat is transferred to the outside air and radiated as latent heat of condensation into the outside air, where it liquefies.The liquefied working fluid is returned to the jacket chamber, and by repeating this operation, the drive mechanism is efficiently cooled. , the temperature rise inside the joint can be sufficiently suppressed, and a highly reliable heat dissipation shape can be obtained.
第１図はこの発明の一実施例による放熱形量節を示す要
部断面図、第２図は第１図■−■線における断面図、第
３図はこの発明の他の実施例による放熱形量節を示す断
面図、第４図は第３図■−■線における断面図、第５図
は従来の放熱形量節を示す断面図である。
図において、（１）は第１の関節体、（２）は第２の関
節体、Ｃ３）は軸受、（４）は駆動機構、（１４はジャ
ケット室、（１４−）は開口部、（２）は容器体、（１
５＆）は波形部、（１５０）は開口部、語は作動液体で
ある。
尚、図中同一符号は同−又は相当部分を示す。Fig. 1 is a cross-sectional view of the main parts of a heat dissipation type joint according to an embodiment of the present invention, Fig. 2 is a cross-sectional view taken along the line ■-■ in Fig. 1, and Fig. 3 is a heat dissipation according to another embodiment of the present invention. FIG. 4 is a cross-sectional view taken along the line ■--■ in FIG. 3, and FIG. 5 is a cross-sectional view showing a conventional heat dissipation type joint. In the figure, (1) is the first joint body, (2) is the second joint body, C3) is the bearing, (4) is the drive mechanism, (14 is the jacket chamber, (14-) is the opening, ( 2) is the container body, (1
5&) is a corrugated portion, (150) is an opening, and the word is a working liquid. Note that the same reference numerals in the figures indicate the same or corresponding parts.
Claims (1)
と、上記第１、第２の関節体内部に配設された駆動機構
と、上記第１の関節体または上記第２の関節体の外周部
に配設され、開口部を有するジャケット室と、上記ジャ
ケット室の開口部を囲繞し、波形状に形成された複数の
波形部を有しかつそれら波形部の両端部が封止されて長
手方向に延在し、上記ジャケット室の開口部と連通する
開口部を有する容器体と、上記容器体と上記ジャケット
室内部に封入された作動液体とを備えたことを特徴とす
る放熱形関節。first and second joint bodies rotatably engaged via bearings, a drive mechanism disposed inside the first and second joint bodies, and the first joint body or the second joint body. A jacket chamber is disposed on the outer periphery of the joint body and has an opening, and a plurality of corrugated portions surrounding the opening of the jacket chamber are formed in a corrugated shape, and both ends of the corrugated portions are arranged on the outer circumference of the joint body. It is characterized by comprising a sealed container body extending in the longitudinal direction and having an opening communicating with the opening of the jacket chamber, and a working liquid sealed inside the container body and the jacket chamber. Heat-dissipating joints.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10173088A JPH01274993A (en) | 1988-04-25 | 1988-04-25 | Heat radiation type joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10173088A JPH01274993A (en) | 1988-04-25 | 1988-04-25 | Heat radiation type joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH01274993A true JPH01274993A (en) | 1989-11-02 |
Family
ID=14308390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10173088A Pending JPH01274993A (en) | 1988-04-25 | 1988-04-25 | Heat radiation type joint |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01274993A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0711292U (en) * | 1993-08-02 | 1995-02-21 | 新日本製鐵株式会社 | Mechanism for protecting joints in work equipment |
| WO1997045234A1 (en) * | 1996-05-31 | 1997-12-04 | Kabushiki Kaisha Yaskawa Denki | Method of cooling drive motor in industrial robot |
| JP2007160484A (en) * | 2005-12-16 | 2007-06-28 | Yaskawa Electric Corp | Multi-finger hand system and robot using the same |
| DE102013014274A1 (en) | 2012-08-31 | 2014-03-06 | Fanuc Corporation | Multi-jointed robot with a device for cooling a motor |
| JP2019109139A (en) * | 2017-12-19 | 2019-07-04 | 株式会社ニコン | Encoder, driving device, stage device, and robotic device |
-
1988
- 1988-04-25 JP JP10173088A patent/JPH01274993A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0711292U (en) * | 1993-08-02 | 1995-02-21 | 新日本製鐵株式会社 | Mechanism for protecting joints in work equipment |
| WO1997045234A1 (en) * | 1996-05-31 | 1997-12-04 | Kabushiki Kaisha Yaskawa Denki | Method of cooling drive motor in industrial robot |
| JP2007160484A (en) * | 2005-12-16 | 2007-06-28 | Yaskawa Electric Corp | Multi-finger hand system and robot using the same |
| JP4692824B2 (en) * | 2005-12-16 | 2011-06-01 | 株式会社安川電機 | Multi-finger hand system and robot using the same |
| DE102013014274A1 (en) | 2012-08-31 | 2014-03-06 | Fanuc Corporation | Multi-jointed robot with a device for cooling a motor |
| US9364956B2 (en) | 2012-08-31 | 2016-06-14 | Fanuc Corporation | Multiple joints robot with mechanism for cooling motor |
| US9895815B2 (en) | 2012-08-31 | 2018-02-20 | Fanuc Corporation | Multiple joints robot with mechanism for cooling motor |
| JP2019109139A (en) * | 2017-12-19 | 2019-07-04 | 株式会社ニコン | Encoder, driving device, stage device, and robotic device |
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