PH12015501727B1

PH12015501727B1 - Industrial robot

Info

Publication number: PH12015501727B1
Application number: PH12015501727A
Authority: PH
Inventors: Takayuki Yazawa; Yutaka Yoshizawa; Yosuke Takase
Original assignee: Nidec Sankyo Corp
Priority date: 2013-02-13
Filing date: 2015-08-06
Publication date: 2015-11-09
Also published as: TW201433426A; JP6108859B2; PH12015501727A1; CN104995003B; WO2014125691A1; CN104995003A; TWI558523B; JP2014151420A

Abstract

Provided is an industrial robot such that it is possible to perform maintenance in a short time and at low cost when a motor for operating the industrial robot or a speed reducer for reducing the power of the motor and transmitting the result breaks down. More specifically described, the industrial robot 1 having the main body 2 and the arm 3, of which the base end side is rotatably joined to the main body 2, is equipped with a motor drive unit 4 which has a motor 25 and a speed reducer 26 for reducing the power of the motor 25 and transmitting the result, a motor drive unit 5 which has a motor 30 and a speed reducer 31 for reducing the power of the motor and for transmitting the result, a motor drive unit 6 having a motor 35 and a speed reducer 36 for reducing the power of the motor 35 and transmitting the result, and a motor drive unit 7 having a motor 45 and a speed reduction mechanism 60 for reducing the power of the motor 45 and transmitting the result. The motor drive units 4 through 7 are configured by separate units formed separately from the arm 3 and detachably attached to the arm 3.

Description

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INDUSTRIAL ROBOT 4. W,, = “hy » = [Field of Invention] “a, 9H ~

The present invention relates to an industrj ~ robot that is installed in a component assembly ine “1 for use. to = pr [Background of Technology] : io

Conventionally known is an lL that - uses predetermined hand tools to transfer and assemble F components and tighten screws (Patent Reference 1, for example). The industrial robot described in Patent

Reference 1 is equipped with a main body, a first rotating arm, a second rotating arm and a hand tool.

The base end of the first rotating arm is rotatably joined to the main body. The base end of the second rotating arm is rotatably joined to the front end of the first rotating arm. To the front end of the second rotating arm, a rotating shaft is rotatably attached and the hand tool is fixed to the bottom end of the rotating shaft.

The industrial robot disclosed in Patent Reference 1 is also equipped with an up-down drive servo motor for moving the first rotating arm up and down, a first revolving servo motor for revolving the first rotating arm with respect to the main body, a second revolving servo motor for revolving the second rotating arm with respect to the first rotating arm, and a rotating servo motor for rotating the hand tool together with the rotating shaft with respect to the revolving arm. Note that in this industrial robot, the second revolving arm is composed of a division arm configuring the base end

£ , + FK ’ 4 * . pc] > side of the second revolving arm and a division arm = configuring another half, the front end side of the ~ second revolving arm; the half division arm configuring ~ the front end side is attachable to/detachable from ~ another half division arm configuring the base end L side. © [Prior Art] = [Patent Reference] o [Patent Reference 1] Unexamined Japanese Patent -

Application H6-320475 Publication [Detailed Description of the Invention] [Problems to be Solved and Objective to be Achieved]

If a servo motor or a speed reduction gear for reducing the power of the servo motor and for transmitting the reduced power breaks down in the industrial robot disclosed in Patent Reference 1, the servo motor or the speed reduction gear cannot be replaced unless the peripheral components are taken apart. Therefore, once the servo motor or the speed reduction gear breaks down, this industrial robot requires more time for repair, presenting a poor maintainability. Note that, in the industrial robot disclosed in Patent Reference 1, the second revolving arm is configured by two separate arms; when the rotating servo motor breaks down, while the rotating servo motor can easily be replaced by removing the separate arm that configures the front half of the second revolving arm, the replacement of the front half of the second revolving arm increases the cost for replacement components.

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Then, an objective of the present invention is to = provide an industrial robot which, when a motor for ~ moving the industrial robot and a speed reduction mechanism for reducing the power of the motor and for - transmitting the result break down, maintenance can be WI done in a short time and at low cost. ® [Means to Achieve Objective] | 5

To achieve the above objective, the industrial oo robot of the present invention having a main body and ~ an arm, of which the base end is rotatably joined to the main body, is equipped with a motor drive unit which has a motor and a speed reduction mechanism for reducing the power of the motor and for transmitting the result to move the industrial robot; the motor drive unit is configured by a separate unit from the arm but is attached detachably to the arm.

In the industrial robot of the present invention, the motor drive unit which has a motor and a speed reduction mechanism for reducing the power of the motor and for transmitting the result to move the industrial robot is configured by a separate unit from the arm and is detachably attached to the arm. Therefore, in the present invention, when a motor or a speed reduction mechanism breaks down, the industrial robot can be repaired by replacing a motor drive unit which is attachable to/detachable from the arm. Thus, in the present invention, when a motor or a speed reduction mechanism breaks down, the repair of the industrial robot can be done in a short time. Also, in the present invention, when a motor or a speed reduction io. oF ’ ’ ; - mechanism breaks down, the industrial robot can be “ repaired at low cost. =o

In the present invention, the industrial robot is - equipped not only with the arm having a first arm oe section, of which the base end is rotatably joined to M1 the main body, and a second arm section, of which the = base end is rotatably joined to the front end of the i. first arm, but also a first arm drive unit for rotating = the first arm section with respect to the main body, a second motor drive unit for rotating the second arm - section with respect to the first arm section, a third motor drive unit for rotating an end effector arranged on the front end of the second arm section with respect to the second arm section, and a fourth motor drive unit for raising/lowering the end effector with respect to the second arm section.

In this case, for example, the first motor drive unit is detachably attached to the first arm section and the main body, the second motor drive unit is detachably attached to the first arm section and the second arm section, and the third motor drive unit and the fourth motor drive unit are detachably attached to the second arm. In this case, even when a motor configuring either a motor drive unit or a speed reduction mechanism breaks down, the industrial robot can be repaired in a short time and at low cost.

In the present invention, it is preferred that the first arm section have a first recess portion for positioning the first motor drive unit and a second recess portion for positioning the second motor drive unit, that the second arm section have a positioning hole in which part of the second motor drive unit is

& . ¢ i * 1 positioned, and that the positioning hole have a step ~ portion for positioning the second motor drive unit.

With this configuration, the first motor drive unit and o the second motor drive unit can easily be positioned i” with respect to the arm. Therefore, when a motor or Hi the like configuring the first motor drive unit or a = motor or the like configuring the second motor drive ~ unit breaks down, the industrial robot can be repaired & in a shorter time. Also, the first motor drive unit © and the second motor drive unit can be attached to the = arm in a short time at the time of assembly of the industrial robot.

In the present invention, the third motor drive unit is equipped with a speed reducer as a speed reduction mechanism, for example, which has an input section at which the power of the motor is input and an output section arranged coaxially with the input section, at which the power input at the input section is reduced and from which the reduced power is output, as well as a first pulley attached to the output section.

In the present invention, also, the fourth motor drive unit is equipped with a ball screw spline to which the end effector is attached, a second pulley attached to a ball screw nut of the ball screw spline, a third pulley attached to the output shaft of the motor, a first belt which is hung between the second pulley and the third pulley, and a fourth pulley attached to a spline nut of the ball screw spline; between the first pulley and the fourth pulley, a second belt is hung.

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In the present invention, it is preferred that the © industrial robot be equipped with the second motor = drive unit attached to the second arm section, a cover member for covering the third motor drive unit and the Le fourth drive unit, a wire box fixed to the main body, a H1 flexible tube, of which one end is detachably attached = to the cover member and the other end is detachably - attached to the wire box, and wires arranged in the c flexible tube. With this configuration, when the wires & arranged in the flexible tube break down, only the ” broken wires can be replaced by removing the wires together with the flexible tube from the cover member and the wire box. [Effects of the Invention]

As described above, when the motor for operating the industrial robot or the speed reduction mechanism for reducing the power of the motor and transmitting the reduced power breaks down, the industrial robot can be repaired in a short time and at low cost in the present invention. [Brief Description of the Drawing] [Fig.1] A side view of the configuration of an industrial robot of an embodiment of the present invention. [Fig. 2] A plan view of the industrial robot shown in

Fig. 1. [Fig. 3] A diagram of a first arm section shown in

Fig. 1: (A) is its plan view and (B) is its bottom view.

, . ‘ . oy _ [Fig. 4] A diagram of a second arm section shown in =

Fig. 1: (A) is its plan view and (B) is a cross - o sectional view of the E-E cross-section of (A). [Fig. 5] A diagram to explain a first motor drive unit shown in Fig. 1. W [Fig. 6] A diagram to explain a second motor drive = unit shown in Fig. 1. ~ [Fig. 7] A diagram to explain a third motor drive unit 5 shown in Fig. 1. o [Fig. 8] A diagram to explain a fourth motor drive - unit shown in Fig. 1. [Detailed Description of the Invention]

The embodiment of the present invention is described hereinafter referring to the drawings. (Configuration of Industrial Robot)

Fig. 1 is a side view of the configuration of an industrial robot 1 of an embodiment of the present invention. Fig. 2 is a plan view of the industrial robot 1 shown in Fig. 1. Fig. 3 is the diagram of a first arm section 11 shown in Fig. 1: (A) is its plan view and (B) is its bottom view. Fig. 4 is the diagram of a second arm section 12 shown in Fig. 1: (A) is its plan view and (B) 1s a cross-sectional view of the E-E cross-section of (A). The description below uses the Z direction in Fig. 1 as the top-bottom direction. Also, the Z1 direction side is the "top" side and the Z2 direction side is the "bottom" side.

The industrial robot 1 (hereinafter denoted as "robot 1") of this embodiment is a selective compliance assembly robot (SCARA robot) which is installed and fod used in a component manufacturing line or an assembly = line. This robot 1 is equipped with a main body 2, an fy arm 3, of which the base end is rotatably joined to the ~ main body 2, and four motor drive units 4 through 7 for ~ operating the robot 1. The arm 3 is configured by two Hi arm sections which are a first arm section 11 and a = second arm section 12 arranged above the first arm . section 11. The base end of the first arm section 11 5 is rotatably joined with the main body 2. The base end - of the second arm section 12 is rotatably joined with - the front end of the first arm section 11.

The motor drive unit 4 is provided to rotate the first arm section 11 with respect to the main body 2.

The motor drive unit 4 configures a joining portion 13 that connects the main body 2 and the first arm section 11. The motor drive unit 5 configures a joint part that connects the first arm section 11 and the second arm section 12. The motor drive unit 6 is provided to rotate the end effector (not illustrated), which is arranged at the front end side of the second arm section 12, with respect to the second arm section 12.

The motor drive unit 7 is provided to raise and/or lower the end effector with respect to the second arm section 12. The detail of the configuration of the motor drive units 4 through 7 is described later.

The main body 2 is formed in a cylindrical shape.

The bottom end of the main body 2 is fixed to a frame 16 which is part of a manufacturing line or an assembly line, for example. To the side surface of the main body 2, a wire box 18 formed in a rectangular solid shape is fixed. Inside the wire box 18, an emergency fd power source and a predetermined substrate, etc. are ~ stored. &

The first arm section 11 is formed to be in a o block shape, or a flat rectangle in the top-bottom pe direction when viewed in the top-bottom direction. In = the bottom surface of the base end of the first arm = section 11, a recess portion lla is formed as a first oy recess portion for positioning the motor drive unit 4. -

The recess portion lla is formed in a circular shape > and indented upwardly. Also, on the base end of the first arm section 11, multiple holes 1lb in which bolts 19 are arranged for fixing part of the motor drive unit 4 are formed. The holes 1llb are formed to pass through the first arm section 11 in the top-bottom direction.

Also, the multiple holes 11lb are arranged annularly to surround the recess portion lla. On the top end side of the holes 11lb, step portions llc are formed to which the border portion between the head portion of the bolt 19 and the screw portion abuts.

In the top surface of the front end of the first arm section 11, a recess portion 11d is formed as a second recess portion for positioning the motor drive unit 5. The recess portion 11d is formed in a circular shape and indented downward. Multiple holes lle in which bolts 20 for fixing part of the motor drive unit 5 are arranged are formed on the front end side of the first arm section 11. The holes lle are formed to pass through the first arm section 11 in the top-bottom direction. Also, the multiple holes lle are arranged annularly to surround the recess portion 11d. On the top end side of the holes lle, step portions 11f are formed so that the border portion between the head

Pd portion of the bolt 20 and the screw portion abuts = thereon. =o

The second arm section 22 is formed in a block i. shape, or a flat rectangle in the top-bottom direction i. when viewed in the top-bottom direction. In the bottom M1 surface of the base end of the second arm section 12, = an arrangement hole 12a is formed so that the bottom end portion of the motor drive unit 5 is arranged © therein. The arrangement hole 12a is formed to pass - through the second arm section 12 in the top-bottom - direction. Also, the arrangement hole 12a is formed in a circular shape. In the top end of the arrangement hole 12a, an annular step portion 12b is formed for positioning the motor drive unit 5.

Arranged on the front end side of the second arm section 12, adjacent to the arrangement hole 12a, is an arrangement hole 12c¢ in which the bottom end portion of the motor drive unit 6 is arranged, an arrangement hole 12d in which the bottom end portion of a motor 45, which is described later, configuring the motor drive unit 7 is arranged, and an arrangement hole 12e in which a pulley, etc., which are described later, configuring the motor drive unit 7 are arranged. The arrangement holes 12c through 12e are formed in this order from the base end toward the front end of the second arm section 12. Also, the arrangement holes 12c through 12e are formed passing through the second arm section 12 in the top-bottom direction. The arrangement holes 12c and 12d are respectively formed as a square hole, and the arrangement hole 1l2e is formed as a circular hole. As shown in Fig. 4 (B), the top ends of the arrangement holes 12c¢ through 12e are fod separated from each other while the bottom ends of the | - arrangement holes 12c through 12e are connected to each © other. A cover member 21 is fixed to the bottom i surface of the second arm section 12 to cover the o arrangement holes 12c through 12e. -

As described later, the motor drive units 5 - through 7 are attached to the top surface of the second @ arm section 12, and part of the motor drive units 5 - through 7 protrude over the top surface of the second = arm section 12. The cover member 22 for covering the motor drive units 5 through 7 is attached from the top on the second arm section 12. One end of a flexible tube 23, which is formed of a resin to provide flexibility, is detachably attached to the cover member 22. More specifically described, one end of the flexible tube 23 is detachably attached to the cover member 22, above the motor drive unit 5. The other end of the flexible tube 23 is detachably attached to the wire box 18. Inside the flexible tube 23, wires (no illustration) to be connected to motors 30, 35, 45, etc., which are described later and configure the motor drive units 5 through 7, are arranged. On one end, the wires are detachably connected to the motors 30, 35, 45, etc. via connectors, and on the other end, the wires are detachably connected to a substrate or a predetermined wiring arranged in the wire box 18 via connectors. (Configuration of Motor Drive Unit)

Fig. 5 is a diagram to explain the motor drive unit 4 shown in Fig. 1. Fig. 6 is a diagram to explain the motor drive unit 5 shown in Fig. 1. Fig. 7 is a diagram to explain the motor drive unit 6 shown in Fig.

ha 6. Fig. 8 is a diagram to explain the motor drive unit = 7 shown in Fig. 1. =

The motor drive unit 4 is configured as a separate unit formed separately from the main body 2 and the i. first arm section 11, and detachably attached to the HT main body 2 and the first arm section 11. The motor = drive unit 4 is equipped with a motor 25 for rotating — the first arm section 11 with respect to the main body © 2 and a speed reducer 26 as a speed reduction mechanism © for reducing the power of the motor 25 and transmitting the reduced power. In this embodiment, the motor drive unit 4 is configured by the motor 25 and the speed reducer 26. The motor 25 is arranged such that the output shaft thereof protrudes upward, and the speed reducer 26 is arranged above the motor 26.

The speed reducer 26 is provided with an input section 27 at which the power of the motor 25 is input and an output section 28 at which the power input from the input section 27 is reduced and output. The output shaft of the motor 25 is fixed to the input section 27, and the base end of the first arm section 11 is fixed the output section 28 by a bolt 19. The input section 27 and the output section 28 are coaxially arranged.

Also, the input section 27 and the output section 28 are rotatably supported by a case body 29 of the speed reducer 26 via a bearing. The case body 29 is fixed to the top end of the main body 2 formed in a cylindrical shape. More specifically, a flange which extends outwardly in the radial direction is formed to the case body 29 and fixed to the top end of the main body 2. A disc-like protrusion section 28a which engages with the fd recess portion lla of the first arm section 11 is formed at the output section 28, protruding upwardly.

The motor drive unit 5 is configured in a separate on unit formed separately from the first arm section 11 os and the second arm section 12, and is detachably Vl attached to the first arm section 11 and the second arm = section 12. The motor drive unit 5 is equipped with a —- motor 30, which rotates the second arm section 12 with © respect to the first arm section 11, and a speed @ reducer 31 as a speed reduction mechanism which reduces the power of the motor 30 and transmits the result. In this embodiment, the motor drive unit 5 is configured by the motor 30 and the speed reducer 31. The motor 30 is arranged such that the output shaft thereof protrudes downwardly, and the speed reducer 31 is arranged below the motor 30. Also, most of the speed reducer 31 is positioned inside the arrangement hole 12a of the second arm section 12.

The speed reducer 31 is equipped with an input section 32 at which the power of the motor 30 is input and an output section 33 at which the power input from the input section 32 is reduced and the reduced power is output. The output shaft of the motor 30 is fixed to the input section 32, and the front end of the first arm section 11 is fixed to the output section 33 by a bolt 20. The input section 32 and the output section 33 are coaxially positioned. Also, the input section 32 and the output section 33 are rotatably supported by a case body 34 of the speed reducer 31 via a bearing.

The main body of the motor 30 is fixed to the case body 34. The case body 34 is fixed to the base end of the second arm section 12. More specifically described, a on o flange which extends outwardly in the radial direction « is formed to the case body 34; this flange is fixed to =o a step portion 12b while abutting on the step portion oo 12b of the arrangement hole 12a of the second arm i. section 12. A disc-like protrusion section 33a which wl engages with the recess portion 11d of the first arm = section 11 is formed to the output section 33, — protruding downwardly. @

The motor drive unit 6 is configured as a separate ® unit formed separately from the second arm section 12 - and is detachably attached to the second arm section 12. The motor drive unit 6 is equipped with a motor 35 which rotates an end effector (no illustration) with respect to the second arm section 12 and a speed reducer 36 as a speed reduction mechanism which reduces the power of the motor 35 and transmits the result. The . motor 35 is arranged such that the output shaft thereof protrudes downwardly, and the speed reducer 36 is arranged below the motor 35.

The speed reducer 36 has an input section 37 at which the power of the motor 35 is input and an output section (no illustration) at which the power input from the input section 37 is reduced and transmitted. The output shaft of the motor 35 is fixed to the input section 37, and a pulley 40 as a first pulley is fixed to the output section. The input section 37 and the output section are coaxially arranged. Also, the input section 37 and the output section are rotatably supported by a case body 39 of the speed reducer 36 via a bearing. Also, the case body 39 is attached to a plate 41 which fixes the case body 39 on the top surface of the second arm section 12, and the plate 41

Pd is fixed to the top surface of the second arm section = 12. The pulley 40 is arranged below the case body 39. -

Also, the bottom end of the speed reducer 36 and the pulley 40 are positioned inside the arrangement hole pot 12c. o

The motor drive unit 6 of this embodiment is = configured by the motor 35, the speed reducer 36, the = pulley 40 and the plate 41. Note that the fixing = position of the plate 41 with respect to the second arm = section 12 is adjustable so that the tension of a belt 52, which is described later, can be adjusted.

The motor drive unit 7 is configured by a separate unit from the second arm section 12 and is detachably attached to the second arm section 12. The motor drive unit 7 is equipped with a ball screw spline 44, to which the end effector is attached, and the motor 45 that elevates and/or lowers the end effector. The ball screw spline 44 is provided with a ball screw spline shaft 46 positioned having the top-bottom direction as the axial direction, a ball screw nut 47 that moves the ball screw spline shaft 46 in the top-bottom direction, and a spline nut 48 that rotates the ball screw spline shaft centering around the shaft center of the ball screw spline shaft 46.

The motor 45 is arranged such that the output shaft thereof protrudes upwardly. Also, the bottom end of the motor 45 is positioned inside the arrangement hole 12d. To the output shaft of the motor 45, a pulley 49 as a third pulley is fixed. A pulley 50 as a second pulley is attached to the ball screw nut 47.

The ball screw nut 47 and the pulley 50 are coaxially arranged. Between the pulley 49 and the pulley 50, a fod belt 51 as a first belt is hung. A pulley 61 as a = fourth pulley is attached to the spline nut 48. The spline nut 48 and the pulley 61 are coaxially arranged. o

Between the pulley 40 and the pulley 61, a belt 52 as a pe second belt is hung. :

The ball screw nut 47 and the spline nut 48 are = rotatably held by a holding member formed in a oo cylindrical shape. The ball screw nut 47 is rotatably © held at the top end of the holding member 53, and the = spline nut 48 is rotatably held at the bottom end of the holding member 53. A plate 58 is fixed to the top end of the holding member 53 and a plate 59 is fixed to the top surface of the plate 58. The main body of the motor 45 is fixed to the plate 59. The bottom end of the holding member 53 is fixed to the top surface of the second arm section 12 as well as to the edge of the arrangement hole 12e. A pulley, etc. are positioned inside the arrangement hole 12e. Note that the fixing position of the plate 59 with respect to the plate 58 is adjustable so that the tension of the belt 51 can be adjusted.

To the bottom end of the ball screw spline shaft 46, an end effector is attached. Also, a bellows fixing member 55 for having the bottom end of a bellows fixed via a bearing is attached to the bottom end side of the ball screw spline shaft 46. The top end of the bellows 1s attached to the cover member 21. On the top end side of the ball screw spline shaft 46, a bellows fixing member 57 for having the top end of a bellows 56 fixed via a bearing is attached. The bottom end of the bellows 56 is attached to the cover member 22.

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In the motor drive unit 7, when the motor 45 is = driven, the power of the motor 45 is transmitted to the = ball screw nut 47 via the pulley 49 and 50 and the belt 51, the ball screw nut 47 is rotated and finally the - ball screw spline shaft 46 is lowered. In other words, + the end effector attached to the bottom end of the ball = screw spline shaft 46 is lowered. As the ball screw - spline shaft 46 descends, the bellows 54 and 56 are © stretched. In this embodiment, the speed reduction © mechanism 60 that reduces the power of the motor 45 and transmits the result is configured by the pulleys 49 and 50, the belt 51, the ball screw spline shaft 46 and the ball screw nut 47. Also, the motor drive unit 7 of this embodiment is configured by the ball screw spline 44, the motor 45, the pulleys 49, 50, and 61, the belt 51, the holding member 53, the bellows fixing members 55 and 57 and the plates 58 and 59.

As the motor is driven, the power of the motor 35 is transmitted to the spline nut 48 via the pulleys 40 and 61 and the belt 52, the spline nut 48 is rotated and then the ball screw spline shaft 46 is rotated having its shaft center as a center. In other words, the end effector attached to the bottom end of the ball screw spline 46 rotates having the shaft center of the ball screw spline shaft 46 as a center.

Note that, in this embodiment, the motor drive unit 4 is the first motor drive unit, the motor drive unit 5 is the second motor drive unit, the motor drive unit 6 is the third motor drive unit and the motor . 30 drive unit 7 is the fourth motor drive unit.

fad " (Assembly Step of Industrial Robot) =

The robot 1 configured as above is assembled in - the following steps. In other words, each of the motor i. drive units 4 through 7 is assembled separately. After ot that, the motor drive unit 4 is attached to the main - body 2, and the motor drive units 5 through 7 are - attached to the second arm section 12. After attaching — the motor drive units 6 and 7 to the second arm section = 12, the belt 52 is hung between the pulley 40 and the © pulley 61. Then, the first arm section 11 is attached to the motor drive unit 4 which is attached to the main body 2, and also the first arm section 11 is attached to the motor drive unit 5 which is attached to the second arm section 12.

Also, the wire box 18 as well as the cover members 21 and 22 and the bellows 54 and 56 are attached to the main body 2. The wires arranged in the flexible tube 23 are first connected to the motors, etc., and then one end of the flexible tube 23 is attached to the cover member 22 and the other end of the flexible tube 23 is attached to the wire box 18. (Major Effects of This Embodiment)

As described above, the motor drive unit 4 in this embodiment is configured as a separate unit formed separately from the main body 2 and the first arm section 11, and detachably attached to the main body 2 and the first arm section 11. In this embodiment, the motor drive unit 5 is configured as a separate unit formed separately from the first arm section 11 and the second arm section 12, and detachably attached to the first arm section 11 and the second arm section 12.

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Further, in this embodiment, the motor drive units 6 wo and 7 are respectively configured as a separate unit = formed separately from the second arm section 12, and detachably attached to the second arm section 12. i.

Therefore, in this embodiment, when the motor 25, 30, - 35 or 45 and the speed reducer 26, 31 or 36 or the on speed reduction mechanism 60 breaks down, the robot 1 = can be repaired in a short time. Also, in this & embodiment, when the motor 25, 30, 35 or 45 or the o speed reducer 26, 31 or 36 or the speed reduction mechanism 60 breaks down, there is no need to replace the main body 2 or the arm 3. Therefore, in this embodiment, when motor 25, 30, 35 or 45 and the speed reducer 26, 31 or 36 or the speed reduction mechanism 60 breaks down, the robot 1 can be repaired at low cost.

In particular in this embodiment, all the motors : 25, 30, 35 and 45, all the speed reducers 26, 31 and 36, and the speed reduction mechanism 60, which the robot 1 has, are installed [somewhere] in the motor drive units 4 through 7; the motor drive units 4 through 7 are detachably attached to the main body 2 or the arm 3. Therefore, even when any of the motors 25, 30, 35, 45, etc. configuring the motor drive units 4 through 7 breaks down, the robot 1 can be repaired in a short time and at low cost.

In this embodiment, the recess portions 11 and 11d are formed in the first arm section 11, and the protrusion 33a that engages with the recess portion 11d is formed at the output section 33 of the speed reducer 31. In this embodiment, also, the step portion 12b is formed on the top end of the hole 12a arranged in the

[x second arm section 12 to position the motor drive unit = 5. Therefore, in this embodiment, the motor drive = units 4 and 5 can easily be positioned with respect to - the arm 3. Accordingly, in this embodiment, when the i. motor 25, etc. configuring the motor drive unit 4 or = the motor 30, etc. configuring the motor drive unit 5 = breaks down, the robot 1 can be repaired in a short - time. Also, in this embodiment, the motor drive units = 4 and 5 can be attached to the arm 3 in a short time © when the robot 1 is assembled. -

In this embodiment, one end of the flexible tube 23 is detachably attached to the cover member 22 while the other end of the flexible tube 23 is detachably attached to the wire box 18. In this embodiment, on one end the wires arranged in the flexible tube 23 are detachably connected to the motor 30, 35, 45, etc. via connectors while on the other end the wires are detachably connected to a substrate or predetermined wires arranged in the wire box 18. Therefore, according to this embodiment, when the wires arranged in the flexible tube 23 break down, the wires can be taken out together with the flexible tube 23 from the cover member 22 and the wire box 18 to replace only the broken wires. Also, when replacing any of the motor drive units 5 through 7, one end of the flexible tube 23 can be taken off the cover member 22 and one of the ends of the wires arranged in the flexible tube 23 may be detached from/ attached to the motor 30, 35, 45, etc. using the connector portions; thus, replacement of the motor drive units 5 through 7 is facilitated.

The above-described embodiment is an example of - preferred embodiments of the present invention; - however, the invention is not limited to these, but can ~ varyingly be modified within the scope of the RA invention. =

In the above-described embodiment, all the motors ~ 25, 30, 35 and 45, all the speed reducers 26, 31 and 36 o and the speed reduction mechanism 60, which the robot 1 - has, are installed [somewhere] in the motor drive units = 4 through 7. Beside this configuration, some components among the motors 25, 35 and 45, the speed reducers 26, 31 and 36 and the speed reduction mechanism 60 may not be installed in the motor drive units 4 through 7, but installed directly in the main body 2 or the arm 3.

In the above-described embodiment, the arm 3 is configured by two arm sections, which are the first arm section 11 and the second arm section 12; however, the arm 3 may be configured by three or more arm sections.

Also, in the above-described embodiment, the robot 1 is a Selective Compliance Assembly Robot Arm; however, a robot to which the present invention is applied may be a robot other than the Selective Compliance Assembly

Robot Arm. [Description of Codes] 1 Robot (Industrial robot) 2 Main body 3 Arm 4 Motor drive unit (First motor drive unit) 5 Motor drive unit (Second motor drive unit)

fo 6 Motor drive unit (Third motor drive unit) = 7 Motor drive unit (Fourth motor drive unit) - 11 First arm section o lla Recess portion (First recess portion) pn 11d Recess portion (Second recess portion) ok 12 Second arm section = 12a Arrangement hole — 12b Step portion a 18 Wire box ~ 22 Cover member - 23 Flexible tube 25, 30, 35, 45 Motor 26, 31, 36 Speed reducer (Speed reduction mechanism) 37 ~ Input section 40 Pulley (First pulley) 44 Ball screw spline 47 Ball screw nut 48 Spline nut 49 Pulley (Third pulley) 50 Pulley (Second pulley) 51 Belt (First belt) 52 Belt (Second belt) 60 Speed reduction mechanism 61 Pulley (Fourth pulley)

Claims

. | ) | | | £ ¢ If. = 443 ye “ % 5 Sy = What Is Claimed Is: "er, 7 p, ‘ = Te 3 i.

1. An industrial robot having a main body. and an/ arm, i having a first arm section, of which the base is = rotatably joined to said main body, and a secgnd arm = section, of which the base end is rotatably joined to = the front end of said first arm section compkising: a motor; ~ a first motor drive unit having a speed reduction mechanism for reducing the power of said motor and transmitting the result to operate said industrial robot; a second motor drive unit; a third motor drive unit; and a fourth motor drive unit, wherein the first motor drive unit is provided for rotating said first arm section with respect to said main body, the second motor drive unit is provided for rotating said second arm section with respect to said first arm section, the third motor drive unit is provided for rotating an end effector arranged at the front end of said second arm section with respect to said second arm section, and the fourth motor drive unit is provided for raising/lowering said end effector with respect to said second arm section, wherein the first motor drive unit, the second motor drive unit, the third motor drive unit, and the rn o fourth motor drive unit is configured by a separate = unit formed separately from said arm and is detachably pe attached to said arm, said third motor drive unit is equipped with a ps speed reducer as said speed reduction mechanism having = : an input section at which the power of said motor is = input and an output section at which the power input - from said input section is reduced and output, and also © equipped with a first pulley which is attached to said ” output section and a plate for attaching a casing body - of the speed reducer with the second arm section, said fourth motor drive unit is equipped with a ball screw spline to which said end effector is attached, a second pulley which is attached to a ball screw nut of said ball screw spline, a third pulley which is attached to the output shaft of said motor, a first belt which is hung between said second pulley and said third pulley, and a fourth pulley which is attached to a spline nut of said ball screw spline; and a second belt is hung between said first pulley and said fourth pulley, the output section is rotabably supported via a bearing to the casing body, the casing body is attached to the plate, the plate is attached to the second arm section, an attachedposition of the plate with respect to the second arm sectionis adjustable so that the tension of the second belt can be adjusted.

2. The industrial robot as set forth in Claim 1 wherein said first motor drive unit is detachably attached to said first arm section and said main body;

Fund sald second motor drive unit is detachably © attached to said first arm section and said second arm - section; - said third motor drive unit and said fourth motor i. drive unit are detachably attached to said second arm “i section. =

3. The industrial robot as set forth in Claim 2 © wherein said first arm section has a first recess - portion formed for positioning said first motor drive " unit and a second recess portion formed for positioning said second drive unit; said second arm section has an arrangement hole in which part of said second motor drive unit is positioned; and said arrangement hole has a step portion for positioning said second motor drive unit.

4. The industrial robot as set forth in Claim 3 wherein said fourth motor drive unit is equipped with a ball screw spline to which said end effector is attached, a second pulley which is attached to a ball screw nut of said ball screw spline, a third pulley which is attached to the output shaft of said motor, a first belt which is hung between said second pulley and said third pulley, and a fourth pulley which is attached to a spline nut of said ball screw spline; and a second belt is hung between said first pulley and said fourth pulley.

5. The industrial robot as set forth in Claim 2 or Claim 3 further comprising:

: bo a cover member that covers said second motor drive © unit, said third motor drive unit and said fourth motor - drive unit attached to said second arm section, a wire ~ box fixed to said main body, a flexible tube, of which ~ one end is detachably attached to said cover member and Hl the other end is detachably attached to said wire box, = and wires arranged in said flexible tube. ~ Lr