Robot and manufacturing method for robot

Patent metadata

Field	Value
Publication number	US-9796097-B2
Application number	US-201414481069-A
Country	US
Kind code	B2
Filing date	Sep 9, 2014
Priority date	Sep 10, 2013
Publication date	Oct 24, 2017
Grant date	Oct 24, 2017

Abstract

A robot includes a base, a multi-joint arm provided in the base, and a wrist member configuring a part of the multi-joint arm. The wrist member includes: a motor including a rotor, a rotor shaft, and a stator; and a housing including a motor housing recess, in which the motor is positioned and housed, and forming an external shape of the wrist member. The housing has a motor incorporating recess including a positioning section for the stator, a hole section for fixing the stator incorporated in the motor incorporating recess, and a heat radiation groove section on a sidewall of the motor incorporating recess. A heat radiation member is filled in the heat radiation groove section.

First claim

What is claimed is:

1. A robot, comprising:
a robot arm including a first member, wherein
the first member includes:
a motor including a rotor, a rotor shaft, and a stator;
a housing including a motor incorporating recess, in which the motor is positioned and housed,
the motor incorporating recess including a positioning section for the stator and a heat radiation groove section on a sidewall of the motor incorporating recess; and
a heat radiation member which is filled in the heat radiation groove section is located on the stator,
wherein the positioning section is a step within the motor incorporating recess which abuts a stepped portion of the stator such that the stator extends along a portion of both walls of the housing forming the step of the motor incorporating recess, and
wherein the heat radiation member contacts only one wall of the step in the motor incorporating recess and is filled between a sidewall of the motor incorporating recess and the stator.

2. The robot according to claim 1 , wherein
the heat radiation member is a metal paste which is filled and solidified in the heat radiation groove section.

3. The robot according to claim 1 , wherein
the robot arm is a multi-joint arm having a plurality of multi-joint arms that are provided in a base.

4. The robot according to claim 1 , wherein
the housing forms an external shape of the first member.

5. The robot according to claim 4 , wherein
the heat radiation member is a metal paste which is filled and solidified in the heat radiation groove section.

6. The robot according to claim 1 , wherein
the first member is a wrist member.

7. The robot according to claim 2 , wherein
the first member is a wrist member.

8. The robot according to claim 4 , wherein
the first member is a wrist member.

9. The robot according to claim 5 , wherein
the first member is a wrist member.

10. The robot according to claim 1 , further comprising a hole section for fixing the stator incorporated in the motor incorporating recess.

11. The robot according to claim 2 , further comprising a hole section for fixing the stator incorporated in the motor incorporating recess.

12. The robot according to claim 4 , further comprising a hole section for fixing the stator incorporated in the motor incorporating recess.

13. The robot according to claim 5 , further comprising a hole section for fixing the stator incorporated in the motor incorporating recess.

14. The robot according to claim 6 , further comprising a hole section for fixing the stator incorporated in the motor incorporating recess.

15. The robot according to claim 7 , further comprising a hole section for fixing the stator incorporated in the motor incorporating recess.

16. The robot according to claim 8 , further comprising a hole section for fixing the stator incorporated in the motor incorporating recess.

17. The robot according to claim 9 , further comprising a hole section for fixing the stator incorporated in the motor incorporating recess.

18. The robot according to claim 1 , wherein the robot arm is a multi-joint arm.

19. The robot according to claim 18 , further comprising a base in which the multi-joint arm provided.

20. The robot according to claim 18 , wherein
the multi-joint arm has a plurality of multi-joint arms.

21. The robot according to claim 19 , wherein
the multi-joint arm has a plurality of multi-joint arms that are provided in the base.

Assignees

• Seiko Epson Corp

Inventors

• Kirihara Daisuke

Classifications

• Y10T74/20317

  including electric motor · CPC title

• B25J17/02 Primary

  Wrist joints · CPC title

• B25J19/0025

  Means for supplying energy to the end effector · CPC title

• Y10S901/29

  Wrist · CPC title

• Y10T74/20311

  including power cable or connector · CPC title