Industrial robot

Patent metadata

Field	Value
Publication number	US-2016368140-A1
Application number	US-201615185962-A
Country	US
Kind code	A1
Filing date	Jun 17, 2016
Priority date	Aug 9, 2012
Publication date	Dec 22, 2016
Grant date	—

Abstract

The present invention is to provide an industrial robot, which is placed in vacuum for use, capable of efficiently cooling down hand- or arm-driving motors which are arranged inside the arm in air. The industrial robot is provided with a motor for rotating a second arm unit with respect to a first arm unit, a motor for rotating a hand with respect to the second arm unit, a reduction gear for reducing the rotation of the motor and transmitting it to the second arm unit, and a reduction gear for reducing the rotation of the motor and transmitting it to the hand; the hand and the arm are placed in vacuum. The reduction gears and are coaxially arranged so that the center of rotation of the second arm unit with respect to the first arm unit coincides with the axial centers of the reduction gears. The interior space of the hollow first arm unit is kept at atmospheric pressure in which the motors and the reduction gears are arranged.

First claim

1 .- 13 . (canceled)

14 . An industrial robot having an arm comprising multiple arm units which are linked to be relatively rotatable, comprising:
multiple motors structured to rotate said multiple arm units; multiple motor drivers structured to drive said multiple motors; a power source structured to supply a power to said multiple motor drivers; a charge-discharge unit which is connected to said multiple motor drivers and chargeable with regenerative power generated by said multiple motors; and a control execution unit structured to control said multiple motor drivers; wherein, when said industrial robot makes an emergency stop, said power is turned off and said control execution unit stops said multiple motors while controlling said multiple motor drivers by using the power supplied from said charge-discharge unit.

15 . The industrial robot as set forth in claim 14 , further comprising:
a hand which is rotatably linked to the front end of said arm; a hand-driving motor structured to rotate said hand with respect to said arm; and a hand-driving motor driver structured to drive said hand motor; wherein said control execution unit is structured to stop said hand motor while controlling said hand motor driver by using the power supplied from said charge-discharge unit.

16 . The industrial robot as set forth in claim 15 ,
wherein a main body unit to which the base end of said arm is rotatably linked; said arm comprises a first arm unit which is rotatably linked to said main body unit with the base end thereof and a second arm unit which is rotatably linked to the front end of said first arm with the base end thereof and which said hand is rotatably linked to the front end thereof; as said motor, a first motor structured to rotate said first arm with respect to said main body unit and a second motor for rotating said second arm unit with respect to said first arm unit are provided; and as said motor driver, a first motor driver structured to drive said first motor and a second motor driver for driving said second motor are provided.

17 . The industrial robot as set forth in claim 14 , further comprising:
an elevation motor structured to elevate said arm; an elevation motor driver structured to drive said elevation motor; a first brake structured to stop said elevation motor; and a second brake structured to stop said elevation motor with a braking force larger than that of said first brake; wherein said control execution unit is structured to control said elevation motor driver, said first brake and said second brake and also, at the time of said emergency stop, operate said first brake and then operate said second brake to stop said elevation motor.

18 . An industrial robot comprising:
an arm configured by relatively-rotatably linked multiple arm units, multiple motors for rotating said multiple arm units, multiple motor drivers for driving said multiple motors respectively, a power source for supplying power to said multiple motor drivers, and a charge-discharge unit which is connected to said multiple motor drivers and is chargeable with regenerative power generated by said multiple motors, the method comprising: when said industrial robot makes an emergency stop, turning off said power and stopping said motors said multiple motors while said multiple motor drivers are being controlled by a use of the power supplied from said charge-discharge unit.

19 .- 23 . (canceled)

Assignees

• Nidec Sankyo Corp

Inventors

• Yazawa Takayuki
• Masuzawa Yoshihisa
• Tanabe Tomoki
• Watanabe Hirokazu

Classifications

• H10P72/3302

  Mechanical parts of transfer devices · CPC title

• B25J19/0004

  Braking devices (brakes in general F16D) · CPC title

• Y10S901/23

  Electric motor · CPC title

• B25J9/042 Primary

  comprising an articulated arm · CPC title

• B25J9/126 Primary

  Rotary actuators · CPC title